Robot control system and method capable of adapting to external interaction forces

Robot Control System Compliant with External Forces via Parallel Operation of Physical and Virtual Models

This technology is a compliant control system that operates a target robot in parallel with a corresponding virtual model. It identifies differences between the two state signals as operational errors and limits the compensation range based on the magnitude of disturbances and the robot's sliding speed, thereby suppressing excessive driving torque.

Conventional industrial robots often misinterpret external collisions or disturbances during operation as simple tracking errors, leading the control system to apply excessive torque, which can result in equipment damage or safety accidents.

This technology utilizes an operational error observer to calculate the state difference between the physical robot and the virtual model, and a compensation output unit to separately output virtual and actual compensation signals, enabling the robot to adapt to external forces. It can be applied to precision assembly and human-robot collaboration environments, ensuring safety for both the robot and the operator during collisions without the need for additional force sensors.

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Key Features:

• Target robot that operates based on input control signals to perform specified precision assembly tasks
• Virtual model implementation unit that provides a comparison baseline by simulating the movement of the virtual model corresponding to the target robot in real time
• Controller that receives feedback from actual and virtual state signals to separately output control signals and virtual control signals
• Operational error observer and compensation output unit that calculate operational errors based on the two state signals and limit the compensation value range

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a universal multi-mode robot teaching device for high-difficulty assembly tasks requiring 0.1mm precision in position, velocity, and contact force teaching.