End Effector Inertial Sensing for Gravity-Adaptive Robot Control
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Solution Overview
Problem
Existing robot control systems fail to accurately suppress positional shifts of end effectors due to gravity influences, especially when the inclination angle sensor is positioned on the second arm, leading to inaccuracies in the end effector's positional control.
Innovation Solution
A robot control method that utilizes an inertial sensor on the end effector to detect the gravity influence amount and selects an appropriate drive algorithm from multiple modes to optimize the drive of the piezoelectric drive device, minimizing the impact of gravity on the end effector's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed drive algorithm is used for the drive device, then the control system is simple, but the positional accuracy of the end effector varies under different gravity influences
Solution Approach 1:
The patent implements dynamic adaptation by selecting different drive algorithms based on the detected gravity influence amount. Instead of using a fixed drive algorithm, the system dynamically adjusts the drive characteristics according to the current gravitational conditions. The control device determines the appropriate drive algorithm from multiple candidates based on real-time inertial sensor data, allowing the system to optimize positional accuracy for each specific gravitational scenario while maintaining manageable complexity through algorithm selection rather than complex real-time calculation.
Solution Approach 2:
The system changes the drive algorithm parameters based on the detected gravity influence amount. By detecting the magnitude of gravitational effects on the end effector and selecting drive algorithms with appropriate compensation parameters, the system adapts its control characteristics to match the current operational conditions. This parameter adaptation allows accurate positional control across varying gravitational influences without requiring an overly complex control architecture.
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 effectively suppresses positional shifts of the end effector by dynamically adjusting the drive algorithm based on the detected gravity influence, enhancing the accuracy and stability of the robot's movement control.
Implementation Method 1
detecting, based on an output signal from an inertial sensor disposed on the end effector, a gravity influence amount indicating a degree of influence of gravity received by the end effector
Data Source
AI summary
A control method of a robot, the robot including a first member, a second member connected to the first member, a drive device configured to rotate or slide the second member with respect to the first member, and an end effector connected to the second member, wherein posture of the end effector is changed by drive of the drive device, the robot control method includes detecting, based on an output signal from an inertial sensor disposed on the end effector, a gravity influence amount indicating a degree of influence of gravity received by the end effector, determining, based on the detected gravity influence amount, a drive algorithm for the drive device from among a plurality of drive modes, and driving the drive device by the determined drive algorithm.