Robotic Arm Motion-Mode Switching for Precise Teaching
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Solution Overview
Problem
Existing robotic arm teaching methods require frequent shifting of the operator's line of sight between the robotic arm and the teaching device, leading to decreased efficiency and accuracy, especially in fine-tuning operations.
Innovation Solution
A control method for robotic arms utilizing a detection circuit, comparing circuit, and switching circuit to automatically switch between first and second motion modes based on threshold comparisons of detected signals, allowing for discontinuous or continuous movements without requiring manual interface adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual operation of teaching device with multiple buttons is used, then the robotic arm can perform six-axis movements, but the operator must frequently shift line of sight between robotic arm and teaching device, reducing teaching efficiency
Solution Approach 1:
The patent replaces manual mechanical button operations with an automatic control system that uses sensors to detect the operator's intended movement direction and automatically generates corresponding robotic arm commands. This eliminates the need for the operator to manually operate multiple buttons and frequently check the teaching device interface, thereby maintaining six-axis movement capability while significantly improving teaching efficiency
Solution Approach 2:
The teaching device automatically detects the operator's intent through sensors and self-generates the appropriate control signals for robotic arm movement. The system serves itself by automatically determining which axis and direction to move based on sensor input, eliminating the need for manual button pressing and interface monitoring, thus resolving the contradiction between versatility and teaching efficiency
2Ease of operation
If force sensors are used for intuitive teaching, then operation becomes more intuitive, but manual dragging cannot achieve precise positioning for fine-tuning operations
Solution Approach 1:
The patent merges the advantages of both manual dragging (intuitiveness) and button operation (precision) by combining force sensors with an automatic control system. The force sensors provide intuitive operation detection, while the automatic control system processes this input to achieve precise positioning, thereby resolving the contradiction between ease of operation and measurement precision
3Adaptability or versatility
If teaching device provides multiple operation settings, then functionality is enhanced, but the teaching device becomes complicated and heavy
Solution Approach 1:
The patent replaces the complex mechanical teaching device with multiple buttons and switches with a simplified sensor-based automatic control system. The sensors detect the operator's intent and the system automatically configures the appropriate operation settings, eliminating the need for physical buttons and complex interfaces while maintaining enhanced functionality, thus reducing device complexity
Data Source
AI summary
A control method of a robotic arm is provided. The control method includes: setting a detection circuit, a comparing circuit and a switching circuit. The detection circuit detects the motion of the robotic arm to generate a detection signal. The comparing circuit compares the detection signal with a low threshold region and compares the detection signal with a high threshold region to generate a comparison signal. The switching circuit switches the robotic arm to a first motion mode or a second motion mode according to the comparison signal.