Robot End Effector Tracking and Force Control on Moving Objects
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Solution Overview
Problem
Existing robot control systems face challenges in ensuring that work on an object is completed without the object moving out of the robot's movable range, particularly when the time taken for the work exceeds the robot's capabilities.
Innovation Solution
A method involving a robot system with a manipulator, base, and moving unit, where the position of the object is sensed, and a target position for the end effector is calculated based on the object's position and transport amount, with tracking and force control corrections applied to maintain alignment and force, allowing the moving unit to adjust its path to keep the object within the robot's range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot performs work on a transported object using a fixed base, then the robot structure is simple, but the object may move out of the robot's movable range before work completion
Solution Approach 1:
The base is transformed from a static structure to a dynamic one by introducing a moving unit that can shift the base position along the transport path. The control apparatus calculates tracking correction amounts based on object transport amount and manually adjusts the base position to maintain the object within the end effector's movable range, thereby resolving the contradiction between structural simplicity and work completion reliability.
2Measurement precision
If the robot base remains stationary, then the control system is simple, but the end effector cannot track the moving object throughout the work process
Solution Approach 1:
The system implements feedback control by continuously acquiring the object's transport amount and calculating tracking correction amounts to adjust the base position. The control apparatus uses sensor data to determine whether position correction is needed and automatically adjusts the base to maintain optimal tracking, balancing tracking precision with control system complexity.
3Ease of manufacture
If the robot base is fixed, then the mechanical structure is simple, but the acting force on the end effector cannot be precisely controlled
Solution Approach 1:
The system replaces complex mechanical force control mechanisms with a control-based approach. The control apparatus acquires the object's position and transport amount, calculates appropriate base positions, and uses the moving unit to adjust the base, thereby achieving precise force control through intelligent control rather than complex mechanical structures.
Data Source
AI summary
A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.