Robot Polishing Force Parameter Setup Without Trial-and-Error
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Solution Overview
Problem
Setting force control parameters for robotic polishing tasks is difficult and requires expertise, as existing methods involve trial and error to find suitable parameters.
Innovation Solution
A method and system that support the setup of force control parameters by obtaining task information, selectively reading out corresponding parameters from a storage, and displaying them for easy adjustment, allowing unskilled personnel to set appropriate parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If force control parameters are set using trial and error method, then suitable parameters can be found for polishing tasks, but the setup process becomes complex and requires extensive experience
Solution Approach 1:
The system pre-calculates and stores optimal force control parameters before actual polishing operations based on workpiece material, tool type, and polishing conditions. This preliminary preparation eliminates the need for trial-and-error adjustments during actual use, allowing operators to directly apply pre-determined parameters for reliable polishing results
Solution Approach 2:
A parameter calculation server acts as an intermediary between the polishing control system and operators. This server automatically computes appropriate force control parameters by processing information about workpiece materials, tool characteristics, and polishing requirements, thereby removing the need for operators to manually adjust parameters through experience-based trial and error
2Reliability
If force control parameters are adjusted through repeated tasks, then appropriate parameters are obtained, but the adjustment process requires extensive time
Solution Approach 1:
Optimal force control parameters are calculated and stored in advance based on various polishing conditions including workpiece material, tool type, and desired polishing quality. This pre-computation eliminates the need for time-consuming repeated adjustments, allowing operators to quickly retrieve and apply appropriate parameters without extensive trial and error cycles
Solution Approach 2:
The system incorporates feedback mechanisms where polishing results and parameter effectiveness are monitored and used to refine future parameter selections. This feedback loop enables the system to learn from previous operations and automatically select or adjust parameters more efficiently, reducing the time required for parameter setup while maintaining high polishing quality
Data Source
AI summary
A force control parameter setup support method of supporting a setup of a force control parameter to be used for force control when controlling a robot arm a tip of which is attached with a polishing tool using the force control to perform a polishing task on an object including a first step of obtaining task information related to the polishing task, a second step of selectively reading out information of the force control parameter corresponding to the task information obtained in the first step from a storage section in which a plurality of pieces of information of the force control parameter is stored, and a third step of displaying the information of the force control parameter read out in the second step on a display section.