Robot Distal End Posture Control for Perpendicular Assembly Work
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Solution Overview
Problem
Existing vertical articulated robots face issues with maintaining the correct posture during assembly tasks, as operators may inadvertently change the position and posture of the robot's distal end portion using the teaching pendant, leading to inefficient and potentially erroneous operations.
Innovation Solution
A control apparatus and robot system that includes a display control unit and a robot control unit, allowing for a switch between first and second control modes. In the first mode, the robot distal end portion is controlled to be perpendicular to the working surface, and then switched to the second mode to prevent erroneous operation, ensuring the robot maintains the desired posture during work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the teaching pendant is used to adjust the robot distal end portion position and posture, then the robot can be positioned and postured for work, but erroneous operation may occur changing the position and posture
Solution Approach 1:
The system dynamically changes the operational state of the teaching pendant based on the robot's posture. When the distal end first axis is perpendicular to the working surface, the teaching pendant enables operation for pivoting about the distal end second axis. When the axis is not perpendicular, the teaching pendant disables operation, preventing erroneous changes to position and posture while still allowing necessary adjustments when appropriate.
2Adaptability or versatility
If the teaching pendant allows full operation freedom, then operation flexibility is maintained, but erroneous operation cannot be prevented
Solution Approach 1:
The teaching pendant's operational capability is not uniformly enabled or disabled, but selectively controlled based on local conditions - specifically the orientation of the robot's distal end first axis relative to the working surface. This localized control allows flexible operation when the robot is in the correct posture while preventing erroneous operation when the posture is incorrect.
3Productivity
If the robot distal end first axis is kept perpendicular to the working surface, then work efficiency is improved, but operation freedom is restricted
Solution Approach 1:
The system preemptively prevents operations that would deviate the robot from the optimal working posture. By disabling teaching pendant operations when the distal end first axis is not perpendicular to the working surface, the system maintains work efficiency while still allowing necessary adjustments when the robot is properly positioned, thus balancing productivity and operational freedom.
Data Source
AI summary
A control apparatus includes a memory and a processor. The processor is configured to control a distal end portion of a robot to rotate around first and second distal end axes, perform a first control mode in which the distal end portion rotates around the first and second distal end axes, perform a second control mode in which the distal end portion rotates around the first distal end axis and does not rotate around the second distal end axis, switch the first control mode to the second control mode when the first distal end axis is perpendicular to a working surface, and control the distal end portion to work while performing the second control mode and maintaining a state in which the first distal end axis is perpendicular to the working surface after the first control mode is switched to the second control mode.