Alignment Control Using Statistical Position Feedback
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Solution Overview
Problem
Existing position control systems face challenges in maintaining accuracy when position-related data includes variations or vibrations, leading to difficulties in aligning a control object with a target position efficiently.
Innovation Solution
A control device that utilizes first and second statistical processing units to process relative positions of an object and a holding device, combined with feedback control, to accurately align the object with a target position by associating these positions more effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If position-related data from drive device and measurement data are used directly for feedback control, then alignment speed is improved, but alignment accuracy deteriorates when data contains variations or vibrations
Solution Approach 1:
The patent applies preliminary action by performing statistical processing on position-related data and measurement data before using them for feedback control. The control device calculates statistical values (such as averages or medians) from multiple data points acquired over time, thereby pre-processing the data to eliminate variations and vibrations. This preliminary statistical processing ensures that the feedback control uses cleaned, reliable data, maintaining alignment accuracy while enabling continuous high-speed operation.
2Device complexity
If measurement data is acquired at a longer time interval than encoder cycle, then processing load is reduced, but position determination accuracy deteriorates
Solution Approach 1:
The patent implements continuity of useful action by continuously acquiring encoder data at high frequency while periodically acquiring measurement data at lower frequency. The control device maintains continuous position determination by combining the high-frequency encoder data with the periodically updated measurement data through statistical processing. This approach ensures that position determination remains accurate and up-to-date without requiring continuous high-frequency measurement data acquisition, thereby reducing processing load while maintaining precision.
3Manufacturing precision
If multiple data points are processed statistically, then alignment accuracy is improved, but processing time increases
Solution Approach 1:
The patent applies partial action by selectively processing data based on the alignment phase. During initial alignment or when accuracy is critical, the control device performs statistical processing on multiple data points. During stable alignment or when speed is prioritized, it uses fewer data points or simplified processing. This selective approach ensures high alignment accuracy when needed while minimizing processing time during other phases, optimizing the balance between precision and speed.
Data Source
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AI summary
A control device includes a first statistical processing unit, a second statistical processing unit and a movement control unit. The first statistical processing unit acquires relative positions of the object calculated by the visual sensor and performs statistical processing on the acquired relative positions of the object. The second statistical processing unit acquires from the position sensor relative positions of the holding device corresponding to each of the relative positions of the object calculated by the visual sensor, and performs statistical processing on the acquired relative positions of the holding device. The movement control unit performs feedback control of the moving device based on the relative positions of the object and the relative positions of the holding device and performs alignment of the object with the target position while moving the object closer to the target position.