Robot Mastering Through Torque and Force-Based Position Acquisition
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Solution Overview
Problem
Existing methods for robot mastering rely heavily on operator skill, leading to inaccuracies due to manual adjustments and susceptibility to disturbances, such as light interference, making it difficult to achieve precise positioning and orientation.
Innovation Solution
A controller that generates mastering data using torque and force detection, controlling drive motors to achieve predetermined torque or force settings, allowing for accurate acquisition of rotational positions, thereby automating the mastering process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment by operator is used for robot mastering, then the mastering process can be completed, but the accuracy depends on operator skill and is susceptible to human error
Solution Approach 1:
The robot performs mastering automatically using its own force sensor to detect contact force with the rotation blocking part. The controller autonomously determines the rotational position by monitoring when the detected force equals the predetermined contact force, eliminating the need for operator intervention and skill-dependent manual adjustments.
Solution Approach 2:
The patent replaces the manual mechanical adjustment method with an automated force-based detection system. Instead of operators manually positioning components, the system uses a force sensor to detect contact force and the controller to automatically determine rotational position, substituting human操作 with automated sensing and control.
2Measurement precision
If measuring devices such as cameras are used for mastering, then positioning can be achieved, but accuracy is deteriorated due to disturbance light
Solution Approach 1:
The patent replaces optical measurement devices like cameras that are susceptible to light interference with a mechanical force-based detection system. The force sensor detects contact force between the robot and rotation blocking part, providing a measurement method that is immune to optical disturbances while maintaining high positioning accuracy.
3Measurement precision
If automated torque control is implemented for mastering, then mastering accuracy is improved, but device complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The force sensor serves multiple functions: it detects contact force between the robot and rotation blocking part, determines when the predetermined contact force is reached, and enables the controller to automatically determine rotational position. This multi-functionality reduces the need for separate specialized components, balancing accuracy improvement with controlled complexity increase.
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 high-accuracy robot mastering with reduced reliance on operator skill, minimizing errors and disturbances, ensuring precise positioning and orientation through automated control.
Implementation Method 1
a torque detector that detects a torque about the specific drive axis
Implementation Method 2
a force sensor that detects a force applied to a work tool in a three-dimensional space
Data Source
AI summary
A control device for a robot according to the present invention controls a drive motor for one specific drive shaft of the robot such that the torque output by a torque detector matches a torque setting value when rotation of a component member is inhibited by a rotation inhibiting unit. The control device acquires a rotational position output by a rotational position detector of the specific drive shaft once the torque matches the torque setting value. The control device generates mastering data in response to output by the rotational position detector on the basis of the rotational position of the drive motor output by the rotational position detector and predetermined mastering data design values.