Robotic Arm Haptic Feedback for Intuitive Workpiece Positioning
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Solution Overview
Problem
Existing robot arm control systems lack intuitive and efficient methods for operators to control manipulator arms with haptic feedback, especially in collaborative robot (cobot) applications.
Innovation Solution
A robot system that includes a multi-part manipulator arm with a handle, a holding device for workpieces or tools, and a control system that determines and processes forces applied by the operator to the handle, providing haptic feedback and controlling the manipulator arm and holding device accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional robot control systems are used, then automation and productivity are improved, but operator safety and intuitive control are reduced
Solution Approach 1:
The patent implements haptic feedback through the manipulator arm that provides force resistance to the operator's movements. This feedback mechanism allows the operator to safely interact with the robot without risking injury, while the robot maintains autonomous operation capabilities. The force feedback creates a natural barrier that prevents unsafe interactions while preserving productivity.
2Manufacturing precision
If programmable control is used, then precision and repeatability are improved, but flexibility and ease of operation are reduced
Solution Approach 1:
The system dynamically switches between autonomous programmable operation and manual teleoperation modes. During autonomous mode, the robot executes precise pre-programmed tasks. During teleoperation mode, the operator directly controls the manipulator arm with intuitive hand movements, and the system maintains positioning accuracy through real-time control system responsiveness.
3Ease of operation
If direct force control is implemented, then ease of operation is improved, but control precision and stability are reduced
Solution Approach 1:
The patent replaces direct mechanical force transmission with an electronic control system that interprets operator hand movements and translates them into precise robot actions. Force sensors detect the operator's intended movements, and the control system processes these signals to achieve accurate positioning, substituting mechanical direct control with intelligent electronic control.
4Ease of operation
If haptic feedback is added to the manipulator arm, then operator control and safety are improved, but device complexity is increased
Solution Approach 1:
The haptic feedback mechanism is merged with the existing manipulator arm structure rather than being added as a separate system. The force feedback is integrated into the arm's mechanical components, combining the manipulation function with the haptic feedback function in a unified system, thereby reducing overall complexity.
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 enables intuitive and safe control of the robot arm, allowing operators to easily position and orient tools relative to workpieces with precise haptic feedback, enhancing both control and safety in human-machine interactions.
Implementation Method 1
The manipulator arm (5) has a handle (6). The manipulator arm (5) is designed to detect forces exerted on the handle (6) and transmit this information to the control system.
Implementation Method 2
the control system is configured to deflect the handle (6) of the manipulator arm (5), either linearly or rotationally, from a starting position, based on the forces determined via the manipulator arm (5)
Data Source
Figure 1~2
Figure 3~4
Figure 5
AI summary
Robot (1) for holding and processing a workpiece (2) comprising a controller (3) for controlling a holding device (4) and for controlling a manipulator arm (5); and a multi-segmented manipulator arm (5) having a handle (6), wherein the manipulator arm (5) is configured to determine forces exerted on the handle (6) of the manipulator arm (5) and to transmit corresponding information to the controller (3), a holding device (4) connected to the controller (3) for holding the workpiece (2), wherein the holding device (4) is configured to move the workpiece (2) linearly or rotationally, and wherein the controller (3) is configured to control the holding device (4) or the manipulator arm (5) to move the workpiece (2) to a position relative to the manipulator arm (5) linearly or rotationally according to the forces determined via the manipulator arm (5);and the control (3) is configured to deflect the handle (6) of the manipulator arm (5) linearly or rotationally from a starting position simultaneously with the control of the holding device (4), based on the forces determined via the manipulator arm (5).