Robot Manipulated Value Adjustment for Irregular Workpieces
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Solution Overview
Problem
Existing robot control systems struggle to adapt to unpredictable working environments, particularly when processing workpieces with irregular states or appearances, as they rely on pre-planned goals that fail to account for real-time situational changes.
Innovation Solution
A robot control system that acquires real-time observation data, virtually simulates robot operations with adjusted manipulated values, and adjusts these values based on evaluation of predicted states to ensure accurate processing of workpieces with unpredictable states or appearances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If pre-planned goals are used for robot control, then control simplicity is maintained, but adaptability to real-time situational changes deteriorates
Solution Approach 1:
The patent implements feedback by continuously acquiring observation data about the actual working environment and workpiece state, comparing it with the planned task, and adjusting manipulated values in real-time. This closed-loop control enables the robot to adapt to unexpected changes while maintaining overall task structure, resolving the contradiction between adaptability and control simplicity.
Solution Approach 2:
The control system transitions from static pre-planned goals to dynamic manipulated value adjustment. The robot continuously updates its control parameters based on real-time observation data, allowing the control strategy to adapt dynamically to changing conditions while maintaining systematic control through the framework of manipulated values.
2Manufacturing precision
If simulation is used to predict workpiece state, then processing accuracy is improved, but calculation time increases
Solution Approach 1:
The system performs preliminary simulation calculations to predict future workpiece states before actual manipulation occurs. By anticipating the outcomes of different manipulated values through virtual simulation, the robot can select optimal control actions in advance, improving processing accuracy while managing calculation time through predictive rather than reactive computation.
Data Source
AI summary
A robot control system includes circuitry configured to: acquire observation data indicating a current situation of a real working space; initially set, based on the observation data, a next manipulated value in a current task for a robot placed in the real working space and executing the current task to process a workpiece; virtually execute, by simulation, the current task in which the robot operates with the next manipulated value to process the workpiece, and to generate, as a predicted state, a state of the workpiece processed by the robot; calculate, based on a goal value preset in association with the workpiece, an evaluation value of the predicted state of the workpiece; adjust the next manipulated value based on the evaluation value; and control the robot in the real working space based on the adjusted next manipulated value.