Robot Control Parameter Mapping for Weight-Based Conveyance Accuracy

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Solution Overview

Problem

Industrial robots face challenges in setting optimal control parameters for varying work tasks, as general-purpose settings compromise accuracy and adaptability, particularly when dealing with objects of different weights, which requires tailored control parameters for specific work regions and object weights.

Innovation Solution

A robot control device and method that utilize a table-based approach to determine control parameters, distinguishing between first and second conveyance work based on object weight, adjusting command followability and operation end determination standards to suit specific work contents, allowing for more precise and efficient operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If general-purpose control parameters are set for all work regions, then the robot operation can be performed in the same manner for all work regions, but it is difficult to locally improve accuracy in specific work regions

Engineering Contradiction:

Improverobot operation consistencyVSAvoidrobot operation accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent segments the control parameters into different levels (first level, second level, third level) corresponding to different work regions and object weights. By dividing the parameter space into discrete levels, the system can select appropriate parameters for each specific work scenario, resolving the contradiction between general-purpose operation and localized accuracy improvement.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent applies local quality by setting different control parameter levels for different work regions and object weights. Instead of using uniform parameters throughout, the system tailors parameter levels to specific local conditions (work region and object weight), thereby improving accuracy in each specific context while maintaining overall system versatility.

Inventive Principle:

Principle #3Local quality

2Adaptability or versatility

If control parameters are set to general-purpose values that can be widely adapted, then the robot can perform work in all work regions, but it is difficult to improve accuracy in certain specific work regions

Engineering Contradiction:

Improvework region adaptabilityVSAvoidspecific work region accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent implements dynamics by making control parameters changeable based on work region and object weight conditions. The control unit dynamically selects appropriate parameter levels according to the current work scenario, allowing the system to adapt to different conditions while maintaining the ability to improve accuracy in specific regions when needed.

Inventive Principle:

Principle #15Dynamics

3Manufacturing precision

If the robot conveys heavy objects (weight equal to or more than predetermined value), then higher command followability is required for precise positioning, but this increases control complexity

Engineering Contradiction:

Improveposition accuracyVSAvoidcontrol parameter complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The patent applies parameter changes by adjusting control parameters based on object weight. When heavy objects are detected (weight equal to or more than predetermined value), the system changes to a second level or third level with higher command followability, thereby achieving precise positioning without requiring complex control algorithms. The parameter levels encapsulate the complexity, making the control system manageable.

Inventive Principle:

Principle #35Parameter changes

4Productivity

If the robot conveys light objects (weight less than predetermined value), then operation speed can be increased, but operation end determination becomes more difficult

Engineering Contradiction:

Improveoperation speedVSAvoidoperation end detection accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent uses parameter changes to address the operation end determination challenge for light objects. By setting the operation end determination standard to a higher level (third level) for light objects, the system maintains strict accuracy criteria despite higher operation speeds. The parameter levels allow the system to compensate for the difficulty in detecting operation ends when dealing with lightweight objects.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20230311305A1Robot control device, robot control method, and non-transitory computer-readable storage medium storing robot control program

Publication Date: 2023.10.05 SEIKO EPSON CORP

AI summary

A robot control device determines control parameters based on a table in which a correspondence relation between work contents of work to be performed by a robot and levels of the control parameters of the robot is specified. The table includes, as the work contents, first conveyance work for conveying a target object having weight less than a predetermined weight value and second conveyance work for conveying a target object having weight equal to or more than the predetermined weight value and includes, as the control parameters, for each of the first conveyance work and the second conveyance work, command followability indicating followability of the robot to a position command and an operation end determination standard indicating a standard for determining an operation end of the robot.