Balancing Robot Control System for End Effector Pose Stability
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Solution Overview
Problem
Balancing robots face instability due to their statically unstable balancing base, requiring active balancing to maintain an upright position, especially when interacting with environmental objects or experiencing disturbances.
Innovation Solution
The implementation of a control system that adjusts the robot arm and balancing base actuators to maintain a given end effector pose through iterative feedback and feedforward loops, applies forces to transition from a fallen configuration to a balanced state, and mitigates disturbances by applying counteracting forces during interactions with environmental objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the balancing base is made statically unstable to enable flexible movement and interaction with environmental objects, then the robot's adaptability and ease of operation are improved, but the robot's stability deteriorates, requiring continuous active balancing control
Solution Approach 1:
The balancing base transitions from a static structure to a dynamic system with active control. The base actuators continuously adjust the base angle in response to disturbances and control commands, enabling the robot to adapt to various environmental interactions while maintaining stability through real-time dynamic adjustment rather than static design
Solution Approach 2:
The system implements feedback control by monitoring the base angle and comparing it to desired positions. The base actuators receive feedback signals that indicate deviations from the target configuration, allowing them to automatically correct and maintain stable operation during flexible movement and environmental interactions
2Stability of the object's composition
If active balancing control is applied to maintain the robot upright during disturbances, then the robot's stability is improved, but the complexity of the control system increases
Solution Approach 1:
The control system applies counterbalancing torques through the base actuators to counteract disturbances affecting the robot's stability. By calculating and applying opposite forces to counteract gravitational and external disturbances, the system maintains upright position without requiring complex multi-variable control algorithms
Solution Approach 2:
The control system is divided into separate functional modules: a balance control module that processes disturbance signals and generates base angle commands, and a task control module that manages end effector positioning. This segmentation allows each module to be optimized independently, reducing overall system complexity while maintaining stability
3Stability of the object's composition
If the robot arm configuration is adjusted frequently to compensate for base disturbances, then the end effector pose stability is improved, but the energy consumption increases
Solution Approach 1:
The system performs preliminary compensation by adjusting the arm configuration in anticipation of base disturbances. The control system calculates required arm adjustments based on predicted base movements and applies them proactively, reducing the need for reactive energy-intensive corrections and minimizing overall energy consumption
Data Source
AI summary
Methods, apparatus, and computer readable media applicable to balancing robots. Some implementations are directed to maintaining a given end effector pose (relative to a world frame) of an end effector of a balancing robot when there is a disturbance to a balancing base of the balancing robot. Some implementations are additionally or alternatively directed to transitioning a balancing robot from a fallen configuration to a balanced configuration. Some implementations are additionally or alternatively directed to mitigating the risk that a balancing robot will fall when interacting with actuable environmental objects (e.g., doors) and/or to lessen the disturbance to a balancing base when interacting with actuable environmental objects.