Concrete Pump Articulated Arm Trajectory Control Under Deformation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Controlling the articulated arm of a concrete pump is complex due to the need for coordinating multiple rotational degrees of freedom in a three-dimensional workspace, with single-axis control posing a risk of uncontrolled movement and endangering personnel.
Innovation Solution
An articulated arm control system that uses geometry control to generate a trajectory for the movement of the lathe and joints based on target TCP movement, accounting for deformation due to the arm's own weight and flexibility, and incorporating sensors for real-time adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If single-axis control is used for the articulated arm, then the control system is simpler, but the risk of uncontrolled movement increases and personnel safety is endangered
Solution Approach 1:
The control system continuously receives feedback from sensors monitoring the actual position and movement of the articulated arm segments. This feedback is processed by the control unit, which compares actual positions with planned positions and generates corrective commands to ensure safe and controlled movement, resolving the contradiction between simple control structure and safety requirements.
Solution Approach 2:
The control system dynamically adjusts control parameters and trajectories in real-time based on the current state of the articulated arm and external conditions. This dynamic adaptation allows the system to maintain safety and control precision without requiring a complex static control structure, enabling safe operation through adaptive control strategies.
2Manufacturing precision
If geometry control with optimization problem solving is implemented, then positioning precision is improved, but computational complexity increases
Solution Approach 1:
The control unit pre-calculates optimal trajectories and control parameters by solving optimization problems before executing movements. By performing computational work in advance, the system achieves high positioning precision without requiring complex real-time calculations during actual movement, reducing real-time computational burden while maintaining accuracy.
Solution Approach 2:
The system replaces complex mechanical control mechanisms with computational optimization algorithms. Instead of using complex mechanical linkages and physical control elements to achieve precision, the invention uses software-based optimization problem solving to calculate precise trajectories and control commands, substituting mechanical complexity with computational efficiency.
3Manufacturing precision
If deformation due to arm weight is taken into account, then positioning accuracy is improved, but control complexity increases
Solution Approach 1:
Sensors mounted on the articulated arm segments measure actual positions and detect deformations caused by the arm's own weight and external loads. This feedback information is fed to the control unit, which compensates for measured deformations in real-time, achieving high positioning accuracy without requiring complex predictive models of gravitational deformation.
Solution Approach 2:
The articulated arm system uses its own sensors to detect and measure deformations caused by its weight, and the control unit automatically compensates for these deformations. The system serves itself by using its own operational data to correct its own positioning errors, eliminating the need for external calibration or complex pre-programmed deformation compensation models.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
The present invention relates to an articulated arm control system for the articulated arm of a concrete pump, wherein the articulated arm has a swivel base rotatable about a vertical axis and at least two segments pivotable about horizontal axes by means of joints, wherein the swivel base can be moved about the vertical axis via an actuator and the segments can be pivoted about the horizontal axes via actuators, wherein sensors are preferably provided for determining the rotation angle of the swivel base and for determining the joint angles of the joints, wherein the articulated arm control system serves to control the actuators and comprises a geometry control system which generates a trajectory with target values for the movement of the swivel base and/or the joints from input values for a target TCP movement.The geometry control is designed to determine the trajectory by solving an optimization problem, taking into account a deformation of the articulated arm due to its own weight.