Articulated Arm Control via Elastic Deformation Compensation
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Solution Overview
Problem
Traditional control methods for mechanical articulated arms are inefficient and lack precision, requiring high operator skill and being prone to safety hazards due to manual operation and neglecting elastic deformation, which affects the accuracy of joint movements.
Innovation Solution
The implementation of at least two tilt sensors at different positions on the articulated arm to detect angle changes before and after elastic deformation, calculating a length parameter and angle parameter to accurately determine the position of the arm's end point, and using this data to control the arm's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual operation mode is used to control mechanical arm segments, then operator can directly operate the mechanical arm, but the efficiency and precision of operation are low and safety risks are high
Solution Approach 1:
The patent replaces manual mechanical operation with an automated control system that uses sensors to detect the operator's intentions and automatically calculates and executes the coordinated movements of multiple mechanical arm segments. This substitution eliminates the need for manual coordination while improving both efficiency and safety.
2Device complexity
If traditional control methods are used without considering elastic deformation, then control system is simpler, but there exists great deviation between calculation results and actual position
Solution Approach 1:
The patent changes the control parameters by incorporating elastic deformation characteristics into the control calculations. The system measures actual deformation parameters and uses these to compensate for position deviations, thereby improving precision without requiring complete redesign of the control system.
3Extent of automation
If robotization is implemented without accounting for mechanical frame flexibility, then automation level increases, but control precision is affected due to deviation between planning and actual position
Solution Approach 1:
The patent implements a feedback mechanism where sensors continuously monitor the actual position and deformation state of the mechanical arm. This information is fed back to the control system, which then adjusts the control commands to compensate for elastic deformation, maintaining high automation while improving precision.
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
This approach enhances the controllability and precision of the articulated arm by accounting for elastic deformation, improving testability and reducing operator error and safety risks.
Implementation Method 1
using the tilt sensors to detect the angle values of the two different positions of the articulated arm
Data Source
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AI summary
A control method of a mechanical articulated arm, wherein at least two tilt sensors are arranged in different positions of the articulated arm, comprising: calibrating zero positions of tilt sensors when articulated arm does not have elastic deformation, setting position of tail end of articulated arm as point P and point P' before and after elastic deformation of articulated arm, and selecting point R on the articulated arm; detecting angles of two different positions of the articulated arm with the tilt angles before and after the elastic deformation, obtaining the angle offset Δθ of the articulated arm due to the elastic deformation, and calculating the length parameter La and the angle parameter θa of the articulated arm after deformation based on the lengths of OR and RP'; and controlling the action of the articulated arm according to position parameters X'p and Y'p (to the point P') obtained according to length parameter La and angle parameter θa.