Robot Visual-Force Control for Obstacle-Aware Assembly Precision
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Solution Overview
Problem
Conventional visual servo systems for robots face challenges in improving workability, especially in environments with obstacles, as they primarily rely on visual deviation control and force control, which can lead to reduced precision and increased failure rates in assembly tasks.
Innovation Solution
A robot system that incorporates an image processing apparatus to compare predetermined images with real-time captured images, enabling force control by extracting feature points and lines, and applying virtual forces to manage obstacles and assembly precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual servo control is used to position the robot with high precision, then positioning accuracy is improved, but the robot cannot adapt to environmental changes and obstacles
Solution Approach 1:
The patent implements dynamic switching between visual servo control and force control modes. The robot uses visual servo control for high-precision positioning when the path is clear, and switches to force control when obstacles are detected, allowing the system to adapt to environmental changes while maintaining positioning accuracy where applicable
Solution Approach 2:
The patent employs feedback from both visual sensors and force sensors to continuously monitor the robot's environment and contact forces. This dual feedback mechanism enables the system to detect obstacles and adjust control mode accordingly, improving adaptability while maintaining precision through continuous visual feedback
2Reliability
If force control is used to suppress excessive force during contact, then contact safety is improved, but positioning precision deteriorates
Solution Approach 1:
The patent dynamically switches between visual servo control for positioning and force control for contact suppression. By using visual servo control when not in contact and only engaging force control when obstacles are detected, the system maintains high positioning precision while ensuring contact safety through controlled force application
3Adaptability or versatility
If switching between visual servo control and force control is implemented, then workability in obstacle environments is improved, but control complexity increases
Solution Approach 1:
The patent uses feedback from visual sensors to detect obstacles and automatically triggers switching between control modes. This feedback-driven approach simplifies the control logic by using sensor information to determine when to switch, reducing the complexity of manual control system design while improving adaptability
Solution Approach 2:
The patent introduces a control switching mechanism that acts as an intermediary between visual servo control and force control systems. This intermediary component manages the transition between modes based on sensor input, organizing the complexity into a manageable switching layer rather than requiring complex integrated control
4Measurement precision
If conventional visual servo and force control are used separately, then each control function works well in its domain, but assembly precision and workability decrease in complex environments
Solution Approach 1:
The patent merges visual servo control and force control into a unified control system that switches between modes based on environmental conditions. By combining the high-precision positioning capability of visual servo control with the contact safety of force control in a single integrated system, the patent achieves both high assembly precision and improved workability in complex environments
Data Source
AI summary
A robot apparatus includes a robot, an image pickup portion, and a controller configured to control the robot. The controller obtains information about force by comparing a predetermined image with a captured image obtained by the image pickup portion imaging the robot, and performs force control of the robot on a basis of the information about force.