Robot Tool Force Estimation for Alternative Tool Selection

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Solution Overview

Problem

Existing systems fail to suggest suitable alternative tools when the desired tool is unavailable or unsuitable.

Innovation Solution

An information processing device that acquires and estimates forces between a first tool and an object during a trial motion, using a robot, to determine a suitable alternative tool based on forces generated between a specific tool and the object in a specific task.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a tool different in shape from the desired tool is used, then the tool can be substituted when the desired tool is unavailable, but the system cannot propose it as an alternative tool

Engineering Contradiction:

Improvetool substitution capabilityVSAvoidalternative tool information

Core Design Contradiction:

Adaptability or versatilityVSLoss of information

Solution Approach 1:

The system changes the parameters used for tool evaluation from purely geometric/shape-based parameters to include force generation characteristics. By measuring and comparing force parameters between the desired tool and candidate tools during trial motions, the system can identify alternative tools that generate similar forces even when their shapes differ, thus resolving the contradiction between tool substitution capability and alternative tool information availability

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If traditional shape-based tool matching is used, then tool selection is simple, but tools with different shapes that can perform the same task cannot be identified

Engineering Contradiction:

Improvealternative tool identificationVSAvoidtool evaluation system

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system replaces traditional mechanical/visual inspection methods for tool selection with a force-based evaluation system. By using force sensors to measure the forces generated during trial motions and comparing these forces to the desired tool's force characteristics, the system automatically identifies suitable alternative tools without requiring complex geometric analysis or shape matching algorithms

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12440973B2Information processing device, information processing method, and storage medium

Publication Date: 2025.10.14 TOYOTA JIDOSHA KK

AI summary

An information processing device is provided that includes an acquisition unit that acquires information indicating a force generated between a first tool and an object in a trial motion using the first tool by a robot, and an estimation unit that estimates information of executing a specific task using the first tool based on the information acquired by the acquisition unit and information indicating a force generated between a specific tool and the object in the specific task using the specific tool.