Robot Polishing Amount Estimation for Force-Control Parameter Setting
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Solution Overview
Problem
Skilled parameter adjustment is required for effective force control operations like polishing, which often necessitates repeated attempts to acquire proper parameter settings, making it challenging to facilitate parameter setting for teaching trajectories and force control in polishing operations.
Innovation Solution
A polishing amount estimation device that estimates polishing amount based on the motion trajectory, movement speed, and pressing force of a polishing tool mounted on a robot manipulator, using a memory to store motion programs and employing virtual force generation methods for accurate predictions, displayed through augmented or virtual reality for intuitive operator understanding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If force control operations are performed using conventional methods, then polishing operations can be executed, but skilled parameter adjustment is required and repeated attempts are necessary to acquire proper parameter settings
Solution Approach 1:
The system performs preliminary simulation of polishing operations before actual execution. The simulation predicts polishing amounts based on motion trajectories and force control parameters, allowing operators to evaluate and adjust parameters in advance without needing repeated trial-and-error attempts during actual polishing operations.
Solution Approach 2:
The system creates a virtual copy of the polishing operation through simulation. By replicating the polishing process in a virtual environment with predicted polishing amounts, operators can test and adjust parameters on the simulation model before applying them to the actual workpiece, eliminating the need for repeated physical attempts.
2Loss of information
If conventional force control methods are used, then polishing operations can be performed, but it is difficult to intuitively understand polishing amounts and adjust teaching trajectories
Solution Approach 1:
The system creates a visual copy or representation of the polishing amount through simulation results. The predicted polishing amounts are displayed in a manner that allows operators to intuitively understand the expected outcomes, enabling informed adjustment of teaching trajectories without loss of critical information.
Solution Approach 2:
The simulation provides feedback on predicted polishing amounts based on proposed motion trajectories and force control parameters. This feedback loop allows operators to understand the relationship between parameter settings and polishing outcomes, facilitating intuitive trajectory adjustment to achieve desired polishing results.
Data Source
AI summary
There is provided a polishing amount estimation device which can facilitate the setting of parameters of teaching trajectory or force control in a polishing operation. A polishing amount estimation device for estimating a polishing amount in a polishing operation which is performed by bringing a polishing tool mounted on a robot manipulator into contact with a target workpiece by force control includes a memory which stores a motion program, and a polishing amount estimation part configured to estimate the polishing amount based on at least one of a motion trajectory of the polishing tool, a movement speed of the polishing tool, and a pressing force of the polishing tool against the target workpiece, which are obtained based on the motion program.