Actuator Driving Control Apparatus for Force Relaxation
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Solution Overview
Problem
Current robot actuators lack the ability to mimic human muscle behavior, particularly in controlling force relaxation, which is essential for producing natural sounds when playing musical instruments like drums, as they tend to become rigid and interfere with the movement of the drumstick, preventing free vibration and reverberation.
Innovation Solution
A driving control apparatus for actuators that includes a pressure control unit to manage the involvement of the driving signal in pressure generation, a braking force control unit to control braking force, and a braking force control loop to perform feedback control of the driving current, allowing for constant current driving and negative impedance operation to simulate muscle-like behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position control is performed to accurately move the robot arm, then positioning accuracy is improved, but the actuator becomes rigid and cannot produce natural sounds when playing musical instruments
Solution Approach 1:
The patent applies dynamics by making the actuator's mechanical impedance variable rather than fixed. The actuator can dynamically adjust its stiffness and damping characteristics based on the operational context - maintaining high positioning accuracy during precision movements while becoming compliant and flexible during musical instrument performance to allow natural vibrations and sound production.
Solution Approach 2:
The patent changes the physical parameters of the actuator system by controlling mechanical impedance (stiffness and damping) as variable parameters. This allows the actuator to transition between different operational states - from a rigid positioning mode to a flexible, compliant mode that mimics human muscle behavior during musical performance.
2Stability of the object's composition
If the actuator maintains constant hardness for stable operation, then operational stability is improved, but it cannot perform force relaxation needed for natural musical performance
Solution Approach 1:
The patent makes the actuator's mechanical impedance dynamic rather than static. The stiffness and damping characteristics can change in real-time based on control signals, allowing the actuator to maintain stability during normal operation while enabling force relaxation and compliant behavior during musical performance tasks.
Solution Approach 2:
The patent employs periodic or time-varying control of the actuator's impedance parameters. The mechanical properties are adjusted periodically or in response to temporal patterns in the performance task, enabling the actuator to cycle between stable operation and force relaxation states as needed for natural musical expression.
3Measurement precision
If electromagnetic braking is present in the actuator, then positioning precision is improved, but it interferes with the free vibration of the drumstick during musical performance
Solution Approach 1:
The patent dynamically controls the electromagnetic braking force based on the operational context. During precision positioning tasks, electromagnetic braking is activated to maintain positioning accuracy. During musical performance, the electromagnetic braking is reduced or eliminated to allow free vibration of the drumstick and natural sound production.
Solution Approach 2:
The patent changes the electromagnetic braking parameter (braking force magnitude) based on the task being performed. The braking force is adjusted from a constant value to a variable parameter that can be optimized for different operational modes - strong braking for precision positioning, weak or zero braking for musical performance.
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
Enables the actuator to perform force relaxation and braking control, allowing the robot to play musical instruments with a more human-like touch, producing natural sounds by effectively managing the movement of the drumstick and preventing electromagnetic braking.
Implementation Method 1
an actuator 200A that drives a movable portion 11
Implementation Method 2
there is provided constant current driving, negative impedance operation, or the like, in order to perform control of force relaxation
Data Source
AI summary
Provided is a driving control apparatus that can control relaxation of force in an actuator. The driving control apparatus is provided with: a driving control unit configured to control driving of the actuator according to a driving control signal; and a pressure control unit configured to control, according to a pressure control signal, involvement of the driving control signal in control of pressure to be generated by the actuator.