Robot Teaching Impedance Control for Contact-Sensitive Handling
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Solution Overview
Problem
Conventional robot teaching methods using remote controllers are inefficient and lack operability, making it difficult for teaching operators to perform fine position control and sense contact with work target objects, particularly when dealing with delicate operations like gripping flexible cables and inserting them into connectors.
Innovation Solution
A working robot equipped with a handling portion to receive manipulating forces, a manipulating force detection portion, and a reaction force detection portion, which adjusts impedance control parameters to facilitate or resist movement based on detected forces, allowing the teaching operator to intuitively teach operations while sensing contact and resistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot automatically moves in the direction of the applied manipulating force according to the manipulating force, then the teaching operator can intuitively manipulate the robot by hand, but the teaching operator cannot sense the occurrence of contact with the work target object by sensation
Solution Approach 1:
The patent implements force feedback control that detects reaction forces from the work target object and provides tactile feedback to the teaching operator through the handling portion. When the hand contacts the work target object, the reaction force detection portion detects the contact force, and the control unit generates feedback force proportional to the reaction force, allowing the operator to sense contact through the handling portion while maintaining intuitive hand manipulation.
Solution Approach 2:
The patent introduces a force feedback control system as an intermediary between the manipulating force detection and the robot movement. The feedback force acts as a mediator that transmits information about contact forces back to the operator's hand through the handling portion, enabling contact sensing without interfering with the natural manipulation experience.
2Ease of operation
If the robot moves only in the direction of the manipulating force applied to the sensor, then the teaching operation becomes intuitive, but the robot may apply excessive force to the work target object during fine position control
Solution Approach 1:
The control unit continuously monitors reaction forces from the work target object and adjusts the robot's movement in real-time based on feedback force proportional to the detected reaction force. This feedback mechanism prevents excessive force application by automatically resisting movements that would cause damage, while maintaining intuitive operation through the handling portion.
Solution Approach 2:
The patent implements dynamic impedance control where the robot's mechanical impedance is adjusted in real-time based on the detected reaction force. When contact is detected, the system dynamically changes from a compliant mode (allowing easy movement) to a stiffer mode (resisting excessive movement), enabling both intuitive operation and precise force control during fine position adjustments.
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 efficient and precise teaching of robot operations by allowing the operator to feel resistance forces, preventing excessive force application and ensuring accurate insertion and fitting tasks, even when dealing with flexible materials.
Implementation Method 1
a manipulating force detection portion configured to detect the manipulating force
Implementation Method 2
a reaction force detection portion configured to detect a reaction force received by the hand from a work target object
Implementation Method 3
the controller adjusts a parameter of impedance control such that resistance to movement of the hand applied when moving the hand in a direction of the manipulating force detected by the manipulating force detection portion is reduced
Data Source
AI summary
A working robot includes an arm including a plurality of shafts, a hand, a controller, a handling portion configured to receive a manipulating force applied by a teaching operator, a manipulating force detection portion configured to detect the manipulating force, and a reaction force detection portion configured to detect a reaction force received by the hand from a work target object. When the teaching operator teaches an operation of the arm and the hand for generating a work operation program, in a case where the reaction force has not been detected, the controller adjusts a parameter of impedance control such that resistance to movement of the hand applied is reduced, and in a case where the reaction force has been detected by the reaction force detection portion, the controller adjusts the parameter of impedance control such that the resistance to movement of the hand applied is increased.