Robot Control Device Torque Evaluation for Force Safety
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Solution Overview
Problem
Existing robot control systems cannot evaluate the load applied to motors, including loads caused by force control, which prevents users from determining if a robot can execute specific force control operations, as they do not account for the torque generated during force control.
Innovation Solution
A robot control device that includes a force detecting section, a receiving section for target force data, a storing section for robot configuration information, and a calculating section to determine torque values in joints during force control, outputting information on whether these torques are within allowable limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot control system performs force control without evaluating motor load, then the robot can execute force control operations, but the system cannot determine whether the motor load exceeds allowable values
Solution Approach 1:
The system performs preliminary calculation of motor loads during force control before actual execution. The load calculating section computes the load on each motor based on force control parameters (magnitude, direction, position, posture) and robot configuration information, allowing the system to assess whether allowable load values will be exceeded before the force control operation begins
Solution Approach 2:
A teaching device acts as an intermediary between the robot control system and the user. It receives force control parameters, calculates motor loads, compares them with allowable values, and provides guidance information to the user about whether the force control operation is safe to execute, mediating the decision-making process
2Loss of information
If the system calculates motor loads for force control evaluation, then the user can learn in advance about position feasibility, but the system complexity increases
Solution Approach 1:
The teaching device performs multiple functions: it not only calculates motor loads but also stores robot configuration information, receives force control parameters, compares loads with allowable values, and provides comprehensive guidance to users. This multi-functionality reduces the need for separate dedicated devices for each task
Solution Approach 2:
The system uses the existing robot configuration information (already stored in the control system) to perform self-evaluation of motor loads. The teaching device leverages available data about motor inertias, gravitational forces, and allowable load values to automatically assess feasibility without requiring external measurement equipment
Data Source
AI summary
A robot control device includes a processor that is configured to calculate, based on magnitude of a target force in force control performed based on an output of a force sensor, a direction of the target force, a position where the force control is started, a posture in which the force control is started, and peculiar information including values of a plurality of allowable torques corresponding to a plurality of joints included in the robot, values of a plurality of torques generated in the plurality of joints when the force control is executed at the magnitude of the target force and in the direction of the target force in the position where the force control is started and the posture in which the force control is started.