Robot Locking Control for Flexible-to-Rigid Mode Switching
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Solution Overview
Problem
Existing robots with both rigid and flexible mechanisms lack effective control strategies for switching between locking and unlocking of flexible portions, leading to instability and reduced operation success rates.
Innovation Solution
A control apparatus for robots that includes a lock control unit to manage locking and unlocking of a flexible portion, and an operation control unit to switch between machine learning-based and classical control policies based on the locked or unlocked state of the flexible portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot uses a flexible mechanism to perform operations involving contact with objects, then operation speed and operation success rate are improved, but stability deteriorates due to vibration
Solution Approach 1:
The robot dynamically switches between two operational modes: using the flexible mechanism for high-speed contact operations when stability is not critical, and using the rigid mechanism for stable positioning operations when precision is required. This dynamic adaptation allows the system to optimize performance based on task requirements.
Solution Approach 2:
The robot arm is segmented into two distinct mechanisms: a flexible mechanism for high-speed operations and a rigid mechanism for stable positioning. Each mechanism has its own dedicated control policy, allowing independent optimization of their respective functions without compromising overall system performance.
2Measurement precision
If a robot uses a highly rigid mechanism for precise work, then measurement precision is improved, but operation speed deteriorates and operation success rate decreases
Solution Approach 1:
The control system dynamically selects which mechanism to use based on the operational phase: the flexible mechanism for high-speed movement phases and the rigid mechanism for precision positioning phases. This dynamic selection allows the robot to achieve both high speed and high precision in different stages of the same task.
Solution Approach 2:
The flexible mechanism performs preliminary high-speed positioning operations to bring the end effector close to the target position, after which the rigid mechanism takes over for final precise positioning. This preliminary action by the flexible mechanism reduces the workload and travel distance for the rigid mechanism.
3Adaptability or versatility
If a robot uses a locking mechanism-equipped flexible element, then both rigid and flexible mechanism merits are exhibited, but control effectiveness deteriorates due to lack of switching control strategies
Solution Approach 1:
The control system dynamically adapts its control policies based on the operational phase and task requirements. Different control algorithms are applied: impedance control for flexible operations, position control for rigid operations, and hybrid control during transitions. This dynamic control adaptation maximizes the benefits of having both flexible and rigid mechanisms.
Solution Approach 2:
The control parameters are changed based on the operational mode: when the flexible mechanism is active, control parameters emphasize compliance and adaptability; when the rigid mechanism is active, control parameters emphasize precision and stability. This parameter adaptation allows optimal performance from each mechanism type.
Data Source
AI summary
A control apparatus of a robot that includes a flexible portion and a locking mechanism for fixing the flexible portion, the control apparatus including: a lock control unit configured to control locking and unlocking of the flexible portion; and an operation control unit configured to control operation of the robot using different types of control policies depending on whether the flexible portion is locked or unlocked. With this control apparatus, it is possible to effectively control a robot in which locking and unlocking of the flexible portion can be switched.