METHODS AND APPARATUS FOR CLOSED LOOP FORCE CONTROL IN A LINEAR ACTUATOR

• US 20160184989A1
• Filed: 10/06/2015
• Published: 06/30/2016
• Est. Priority Date: 01/25/2008
• Status: Active Grant

• Current Assignee: Systems, Machines, Automation Components Corporation
• Original Assignee: Systems, Machines, Automation Components Corporation
• Inventors: Neff, Edward A., Vu, Toan M.
• Granted Patent: US 9,731,418 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37021 Robot controls position of touch probe
• CPC Class Codes: G05B 2219/37207 Verify, probe, workpiece
• CPC Class Codes: G05B 2219/37411 Measure contact from force and velocity detection
• CPC Class Codes: G05B 2219/40599 Force, torque sensor integrated in joint
• CPC Class Codes: G05B 2219/45061 Measuring robot
• CPC Class Codes: G05B 2219/50109 Soft approach, engage, retract, escape, withdraw path for tool to workpiece
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

A system and method for using a probe assembly to apply a desired force to a target surface. The method includes moving the probe assembly into an approach position, the approach position being a predetermined distance from the target surface. The probe assembly is then moved from the approach position to the target surface pursuant to a soft landing procedure. The soft landing procedure includes determining that the probe assembly has moved into soft contact with the target surface. The method further includes applying, subsequent to establishment of the soft contact between the probe assembly and the target surface, force to the probe assembly until an applied force on the target surface reaches the desired force. The applied force may then be monitored based upon an output of a load cell responsive to a force exerted by the probe assembly.

Claims

1. A method for using a probe assembly to apply force to a target surface, the method comprising:

moving the probe assembly into an approach position, the approach position being a predetermined distance from the target surface;

moving the probe assembly from the approach position to the target surface pursuant to a soft landing procedure, the soft landing procedure including determining that the probe assembly has moved into soft contact with the target surface wherein the probe assembly exerts an initial contact force on the target surface as a result of execution of the soft landing procedure;

applying, subsequent to establishment of the soft contact between the probe assembly and the target surface, force to the probe assembly until an applied force on the target surface reaches a desired force different from the initial contact force wherein the applying includes applying an initial portion of the desired force to the target surface by operating the probe assembly in an open loop force control mode and incrementally applying a remaining portion of the desired force to the target surface by operating the probe assembly in a closed loop force mode of operation; and

monitoring the applied force based upon an output of a load cell responsive to a force exerted by the probe assembly wherein the closed loop force mode of operation utilizes the output of the load cell.

2. The method of claim 1 wherein the initial portion of the desired force is at least 99% of the desired force.

3. The method of claim 2 wherein the probe assembly is moved in fixed steps during the closed loop force mode of operation.

4. The method of claim 1 wherein a least squares regression analysis is used in controlling movement of the probe assembly in fixed steps during the closed loop force mode of operation.

5. The method of claim 4 wherein the closed loop force mode of operation utilizes the output of the load cell.

6. An apparatus, comprising:

an actuator including a probe moveable in at least one dimension;

a load cell operative to measure a force exerted by the probe on a contact surface and to provide an output signal based upon the force; and

a controller configured to provide control signals to the actuator based upon a set of input parameters and the output signal wherein;

pursuant to a soft landing procedure, first ones of the control signals cause the probe to move from an approach position to the contact surface, the soft landing procedure including determining that the probe has moved into soft contact with the contact surface wherein the probe exerts an initial contact force on the contact surface as a result of execution of the soft landing procedure, and

during operation in an open loop force control mode subsequent to establishment of the soft contact between the probe assembly and the target surface, second ones of the control signals cause the probe to apply an initial portion of a desired force different from the initial contact force to the contact surface, and

during operation in a closed loop force mode of operation, third ones of the control signals cause the probe to incrementally apply a remaining portion of the desired force to the target surface wherein the closed loop force mode of operation utilizes the output of the load cell.

7. The apparatus of claim 6 wherein the load cell is integrated with the probe.

8. The apparatus of claim 6 wherein the controller includes a memory for storing a probe movement profile corresponding to an application.

9. The apparatus of claim 6 wherein the initial portion of the desired force is at least 99% of the desired force.

10. The apparatus of claim 9 wherein a least squares regression analysis is used in controlling movement of the probe in fixed steps during operation in the closed loop force mode of operation.

11. The apparatus of claim 6 further including a load cell amplifier for amplifying the output signal.