Robot Manipulator Manual Teaching With Pose-Independent Force Specification
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Solution Overview
Problem
Current robot manipulators lack the ability to intuitively specify desired forces and torques during a manual teaching process, with the quality of specification dependent on the robot's pose, making the process less user-friendly and requiring additional sensors that increase complexity and flexibility issues.
Innovation Solution
A robot manipulator equipped with bearing sensors, a first sensor to capture a force screw, and a second sensor on the operating housing to capture user torque, connected to a computing unit that uses a dynamics model to determine and store desired forces and torques, allowing specification of forces and torques independent of the robot's pose, and distinguishing between user input and bearing forces/torques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors are added to capture user torque and force screw, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions into existing sensor components. The bearing sensors that originally only measured bearing torque are enhanced to also provide user torque information through the operating housing. The first sensor on robot limb GLN-a and second sensor on operating housing GLN-b are integrated into the existing robotic structure rather than being separate additions, thereby improving measurement precision while minimizing increases in device complexity.
2Measurement precision
If more sensors are installed to improve force specification, then measurement precision improves, but flexibility deteriorates due to increased weight and complexity
Solution Approach 1:
The patent applies sensing capabilities locally at specific critical points rather than throughout the entire robot manipulator. The first sensor is placed on robot limb GLN-a and the second sensor on the operating housing GLN-b, targeting specific locations where force and torque measurement are most needed. This localized approach improves measurement precision for force specification while minimizing the overall impact on the robot's flexibility and adaptability.
3Measurement precision
If bearing sensors capture both user input and bearing forces, then measurement precision improves, but difficulty of detecting and measuring increases due to signal separation
Solution Approach 1:
The patent segments the torque measurement into distinct components by using separate sensing locations. The bearing sensors measure bearing torque at the bearing level, while the second sensor on the operating housing measures user torque at the interface level. This segmentation allows the computing unit to distinguish between user input and bearing forces more easily, improving measurement precision while reducing the difficulty of signal separation through spatial differentiation of measurement points.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables intuitive specification of desired forces and torques during manual teaching, reducing the need for additional sensors and improving force regulation by allowing distinction between user and bearing inputs, thus enhancing the teaching process and reducing complexity.
Implementation Method 1
the dynamics model includes at least gravitational forces and inertial forces based on the particular bearing position
Implementation Method 2
the dynamics model includes at least gravitational forces and inertial forces based on the particular bearing position
Data Source
AI summary
A robot manipulator including limbs moveable via bearings controlled by actuators; sensors to capture a bearing position and a bearing torque/bearing force; a first sensor to capture a force screw W; a housing downstream of the first sensor; a second sensor to capture a user force applied to the housing and/or a user torque; a computing unit to determine, using a dynamics model of the robot manipulator and based on particular bearing torque/bearing force, the force screw W, and the user force and/or the user torque, a first force and/or a first torque to shift the limbs and a second force and/or a second torque to apply to an external object via an effector, wherein the dynamics model includes at least gravitational forces and inertial forces based on the bearing position; and a storage unit to store the first and/or the second force, and/or the first and/or the second torque.