Flexible Robot Posture Control Using Learning-Based Feedback
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Solution Overview
Problem
In existing inspection systems, the target posture of a long flexible robot set by a drive control device often becomes misaligned with its actual posture due to factors like wire tension elongation, friction, non-linearity of wire load and elongation, and variations in wire characteristics.
Innovation Solution
A control device that includes a target posture specifying unit to set a target posture for the long flexible robot and an operation amount determination unit that uses a learning model to determine the necessary operation amount for the posture actuator to align the robot's posture with the target, thereby improving posture adjustment accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a drive control device operates wires with a posture actuator to adjust the posture of tubes along a route, then the robot can reach the final destination through a confined space, but the target posture and actual posture of the tube become misaligned due to wire tension elongation, friction, and non-linearity
Solution Approach 1:
The patent implements a feedback mechanism where the actual posture of the robot is measured by a measurement device, and this measurement is fed back to the control device. The control device then adjusts the operation amounts of the posture actuator based on the difference between target posture and actual posture, compensating for errors caused by wire tension, friction, and non-linearity.
Solution Approach 2:
The patent replaces the traditional mechanical wire-pulley system with a more sophisticated control system that uses measurement data and computational algorithms. Instead of relying solely on mechanical precision, the system uses electronic control with feedback to achieve accurate posture alignment, substituting mechanical direct control with an intelligent control loop.
2Measurement precision
If traditional control methods are used to adjust the posture of long flexible robot, then the control system remains simple, but posture adjustment accuracy deteriorates due to disturbances like wire tension and friction
Solution Approach 1:
The control device receives measurement information from the measurement device and uses this feedback to determine adjusted operation amounts for the posture actuator. This feedback loop enables high posture adjustment accuracy by continuously compensating for disturbances without requiring complex hardware modifications.
Solution Approach 2:
The patent introduces a measurement device as an intermediary between the robot and the control device. This intermediary provides accurate posture information that enables the control device to make precise adjustments, acting as a mediator that bridges the gap between target posture and actual posture despite mechanical disturbances.
Data Source
AI summary
A control device for an inspection device including a long flexible robot that is formed by connecting a plurality of units and bendable at each unit with a desired curvature, and a posture actuator that adjusts a posture of the unit includes a target posture specifying unit that specifies a target posture including positions of representative points of the respective units traveling along a predetermined route, and an operation amount determination unit that determines an operation amount for bringing the unit to the target posture using a learning model with the target posture of the unit as an input and an operation amount of the posture actuator as an output.