Robot Load Parameter Selection via Torque Indexing

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Solution Overview

Problem

Operators may forget or incorrectly set load parameters for workpieces gripped by robots, leading to inappropriate control, and existing methods require complex calculations to determine load parameters, causing processing delays.

Innovation Solution

A load parameter setting device that automatically selects the appropriate load parameter based on the current position and orientation of the robot using a storage unit, index calculation unit, and selection unit, which calculates and compares theoretical and actual torques to choose the closest matching parameter, eliminating the need for complex calculations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If an operator manually sets the load parameter for each workpiece, then the load parameter can be customized for each workpiece type, but human error occurs leading to forgotten or incorrect parameter switching

Engineering Contradiction:

Improveaccuracy of load parameter settingVSAvoidoperator intervention required

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system performs automatic load parameter selection without operator intervention. The selection unit automatically determines the appropriate load parameter based on workpiece identification information, eliminating the need for manual parameter switching and preventing human error.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system uses feedback from workpiece identification (via camera or sensor detection) to automatically select the corresponding load parameter. The identification information serves as input feedback that triggers the appropriate parameter selection from stored parameters.

Inventive Principle:

Principle #23Feedback

2Measurement precision

If complex calculations are performed to determine the load parameter, then accurate load parameter can be determined, but processing time increases causing delays

Engineering Contradiction:

Improveaccuracy of load parameter determinationVSAvoidprocessing time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

Load parameters for different workpiece types are pre-calculated and stored in advance in the storage unit. During operation, the system only needs to retrieve the pre-stored parameter corresponding to the identified workpiece, avoiding complex real-time calculations and reducing processing time.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Instead of performing complex calculations during operation, the system creates a database of pre-computed load parameters for various workpiece types. The operational system copies the appropriate pre-computed parameter based on workpiece identification, significantly reducing computational burden and processing time.

Inventive Principle:

Principle #26Copying

Data Source

PatentUS10252418B2Load parameter setting method and load parameter setting device

Publication Date: 2019.04.09 FANUC LTD

AI summary

A load parameter setting device includes: a storage unit that stores a plurality of load parameters corresponding to a plurality of types of workpieces to be gripped by the robot respectively; an index calculation unit that calculates, for each of the plurality of stored load parameters, an index for selection of the load parameter of the workpiece gripped by the robot based on a current position and orientation of the robot; and a selection unit that selects the load parameter of the workpiece from among the plurality of load parameters stored in the storage unit based on the calculated index.