Robot Manipulator Speed Control via Direction Verification
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Solution Overview
Problem
Current robot teaching systems require redundant safe operation speed settings, leading to increased teaching time and potential operational errors due to incorrect coordinate system orientation recognition.
Innovation Solution
A robot apparatus with a control system that automatically adjusts the manipulator's speed based on whether the operation direction has been checked, operating at a regular speed when confirmed and a safety speed when unconfirmed, and allowing operators to easily switch between these modes through a teaching apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operation speed is automatically set at safe speed during a preset period from the start of operation, then the safety of manipulator operation is improved, but the teaching time is increased due to redundant safe speed operations after restart
Solution Approach 1:
The control apparatus determines in advance whether the operation direction has been checked before forcing safe speed operation. By checking the storage unit for pre-verified operation direction data, the system avoids redundant safe speed periods after restart, eliminating unnecessary time loss while maintaining safety for unchecked directions
Solution Approach 2:
The system uses feedback from the storage unit that records whether operation direction has been checked. This feedback mechanism allows the control apparatus to adjust speed settings dynamically - maintaining safe speed only when direction checking is needed, and allowing regular speed when direction has been previously verified, thus resolving the contradiction between safety and teaching time efficiency
2Measurement precision
If the operator manually checks the operation direction by moving the manipulator, then the coordinate system orientation accuracy is improved, but the operation complexity is increased
Solution Approach 1:
The control apparatus automatically determines whether operation direction checking has been performed by checking the storage unit, eliminating the need for the operator to manually track and remember whether checking has occurred. The system serves itself by automatically managing the speed control based on stored checking status, reducing operational complexity while maintaining accuracy
Data Source
AI summary
A robot apparatus includes a manipulator, a teaching apparatus, and a control apparatus. The manipulator includes a hand and an arm having a plurality of joints. The teaching apparatus teaches operation of the manipulator. The control apparatus controls the manipulator based on a control signal from the teaching apparatus for causing the manipulator to operate in a predetermined operation direction. In a case where the predetermined operation direction has been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a regular speed. In a case where the predetermined operation direction has not been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a speed lower than or equal to a safety speed that is set based on the regular speed.