Robot arm processing system and method thereof
AssigneeIndustrial Technology Research Institute
InventorsChen-Yu KAI, Kai-Ming PAN, Yen-Cheng CHEN, Ta-Jen PENG
Life of this patent
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Abstract
A robot arm processing system includes a robot arm, a processing module, and a control module. The robot arm is for providing a mechanical holding force. The processing module is disposed on the robot arm to process a workpiece. The control module is connected to the robot arm or the processing module. The control module outputs an anti-vibration signal according to the reaction force of the workpiece or the displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm.
Claims21
A robot arm processing system, comprising:
- a robot arm for providing a mechanical holding force;
- a processing module disposed on the robot arm for processing a workpiece;
- and
- a control module connected to the robot arm or the processing module for outputting an anti-vibration signal according to a reaction force of the workpiece or a displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm;
- wherein, the processing module comprises a feeder unit comprising a tool for processing the workpiece.
A robot arm processing method, comprising:
- providing a mechanical holding force by a robot arm;
- processing a workpiece by a processing module disposed on the robot arm, wherein the processing module comprises a feeder unit and a pre-pressing unit, the feeder unit comprises a tool for processing the workpiece, the pre-pressing unit is connected to the robot arm, and the mechanical holding force having a direction inverse to a direction of a reaction force of the workpiece is applied to the workpiece through the pre-pressing unit;
- and
- connecting a control module to the robot arm for outputting an anti-vibration signal according to the reaction force of the workpiece or a displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm.
A robot arm processing method, comprising:
- providing a mechanical holding force by a robot arm;
- processing a workpiece by a processing module disposed on the robot arm, wherein the processing module comprises a feeder unit, a pre-pressing unit, a sensing unit and an impedance simulation unit, the feeder unit comprises a tool for processing the workpiece, the pre-pressing unit is connected to the robot arm, the mechanical holding force having a direction inverse to a direction of a reaction force of the workpiece is applied to the workpiece through the pre-pressing unit, the sensing unit is connected to the feeder unit for detecting a loading signal outputted by the feeder unit when the feeder unit processes the workpiece, and the impedance simulation unit is disposed between the feeder unit and the robot arm for evaluating the reaction force of the workpiece according to the loading signal outputted by the feeder unit to output a virtual impedance;
- and
- connecting a control module to the impedance simulation unit for outputting an anti-vibration signal according to the virtual impedance to counteract the reaction force of the workpiece.
Dependencies are inferred from the claim text.