Robot Direct Teaching Force Feedback for Work Area Boundaries
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Solution Overview
Problem
Operators struggle to accurately perform direct teaching of robots due to difficulty in recognizing the work area within the robot's movement limits, leading to potential deviations from the intended workspace.
Innovation Solution
A robot control device with position and force sensors that applies assistive forces differently across defined areas within the robot's workspace, notifying operators through varying assistive loads when they approach or leave the work area, thereby enhancing awareness of the workspace boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work area is set narrower than the movable area to ensure appropriate robot operation, then the robot operates more safely and reliably, but the operator cannot easily grasp the work area boundaries and perform direct teaching appropriately
Solution Approach 1:
The control device provides force feedback to the operator through the manipulator based on the operator's operation force and the manipulator's angle. This feedback mechanism gives the operator sensory information about the work area boundaries, enabling them to grasp the work area appropriately while maintaining safety through the narrower work area setting
Solution Approach 2:
The control device changes the assist force parameter based on the manipulator's angle and the operator's operation force. By adjusting the assist force according to the manipulator's position and orientation, the system provides appropriate resistance or assistance to guide the operator within the work area boundaries, solving both safety and operability requirements
2Ease of operation
If assist control is applied throughout the entire movable area, then the operator experiences consistent assistance during direct teaching, but the operator cannot sensually recognize when the robot deviates from the work area
Solution Approach 1:
The assist control characteristics are made different for different areas within the movable area. The control device calculates different assist forces based on whether the manipulator is within the work area or outside it, providing localized quality changes that help the operator recognize work area boundaries through sensory feedback
Solution Approach 2:
The control device provides differentiated force feedback to the operator based on the manipulator's position relative to the work area. When the manipulator approaches or exceeds work area boundaries, the assist force changes to provide sensory information to the operator, enabling them to recognize boundaries while still receiving appropriate assistance
Data Source
AI summary
A robot control device executes assist control for generating an assist force in a direction of an external force applied to a robot in a case where a position of the robot is located in a first area set in a work area of the robot when the external force is applied to the robot. The robot control device stops the execution of the assist control in a case where the position of the robot is located in a second area set outside the work area of the robot. The robot control device restricts the execution of the assist control in a case where the position of the robot is located in a third area set outside the first area and inside the second area.