Robot Withdrawal Control Using Force Feedback to Avoid Obstacles
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Solution Overview
Problem
Existing robot systems face challenges in reliably releasing a held object while minimizing interference with obstacles, especially when external forces exceed certain thresholds, as they lack effective mechanisms to adapt their withdrawal motion based on detected forces.
Innovation Solution
A robot system equipped with a sensor to detect external forces and a processor that controls the robot to move in a backward direction when a first condition is met, and further adjusts the withdrawal direction to reduce external forces when a second condition is satisfied, ensuring reliable release and minimizing obstacle interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot moves in reverse direction when external force exceeds first threshold, then the robot can release held objects, but the robot may contact obstacles during withdrawal
Solution Approach 1:
The sensor continuously detects external forces acting on the robot during withdrawal motion, and the controller adjusts the withdrawal behavior based on this feedback. When external force exceeds the first threshold, the robot moves in reverse; when it exceeds the second threshold, the robot changes posture to reduce force, creating a closed-loop control system that prevents obstacle contact while ensuring object release.
Solution Approach 2:
The robot dynamically changes its withdrawal strategy based on detected external forces. Instead of a fixed withdrawal motion, the system adapts by switching between reverse direction movement and posture adjustment, making the withdrawal process flexible and responsive to real-time force conditions.
2Object-affected harmful factors
If the robot changes posture to reduce external force, then obstacle interference is minimized, but the object release reliability may be compromised
Solution Approach 1:
The controller continuously monitors external forces and adjusts posture only when the second threshold is exceeded, ensuring that posture changes occur at appropriate moments during withdrawal. This feedback mechanism prevents premature or inappropriate posture adjustments that could compromise object release while still reducing obstacle interference when necessary.
Solution Approach 2:
The robot proactively changes posture in anticipation of potential obstacle contact when external force exceeds the second threshold. By taking preventive action before actual contact occurs, the system minimizes obstacle interference while maintaining object release reliability through timely posture adjustments.
3Device complexity
If the robot uses a fixed withdrawal motion, then the control system is simple, but the system cannot adapt to varying external forces
Solution Approach 1:
The control system transitions from a static, fixed withdrawal motion to a dynamic, adaptive control strategy. The controller adjusts withdrawal behavior in real-time based on external force conditions, implementing different motion patterns (reverse direction, posture changes) depending on the detected force level, thereby achieving adaptability without excessive complexity.
Solution Approach 2:
The system changes operational parameters (withdrawal direction, posture configuration) based on external force parameters detected by the sensor. By linking force magnitude to specific motion parameter changes, the system achieves adaptability through parameter adjustment rather than complex structural modifications.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances the reliability of the withdrawal motion by allowing the robot to adapt its movement based on detected forces, reducing the likelihood of further obstacle contact and improving the reliability of object release.
Implementation Method 1
a sensor that detects an external force acting on the robot
Data Source
AI summary
A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.