Holder Grip Force Control With Protector Viscoelastic Filtering
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Solution Overview
Problem
Existing robot control techniques struggle to accurately control the holding force of a holder due to the viscoelastic characteristics of protectors used between the holder and the object, leading to inconsistencies in grip force detection and control.
Innovation Solution
A holder controller that includes a correction filter to perform first filtering on the detection signal from a force detection sensor, reducing the effect of the viscoelastic characteristic of the protector on the signal, and optionally performing second filtering and noise reduction to improve grip force control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a protector is placed between the holder and the object to protect the sensing portion, then the sensor is protected from damage, but the viscoelastic characteristic of the protector causes detection signal distortion and reduces measurement precision
Solution Approach 1:
The patent introduces a correction filter as an intermediary processing element between the sensor and the control system. This filter specifically compensates for the viscoelastic effects of the protector, allowing the protector to remain in place for protection while eliminating its negative impact on measurement accuracy through signal correction
Solution Approach 2:
The patent applies parameter changes by modifying the detection signal through filtering operations. The correction filter changes the signal parameters (frequency characteristics, amplitude) to compensate for the viscoelastic distortion, transforming the distorted signal into an accurate representation of the actual holding force
2Measurement precision
If filtering is applied to reduce viscoelastic effects, then measurement precision is improved, but device complexity increases due to additional correction filter components
Solution Approach 1:
The patent replaces complex mechanical or hardware-based compensation mechanisms with a signal processing approach. Instead of modifying the physical structure to eliminate viscoelastic effects, the system substitutes a correction filter that processes the electrical signal, achieving the same goal with simpler overall system architecture
Solution Approach 2:
The correction filter serves as an intermediary software or firmware component that bridges the gap between the imperfect sensor output and the control requirements, adding minimal complexity while significantly improving measurement 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
The solution enables more accurate and stable control of the grip force, ensuring that the holder can maintain a consistent holding force on the object, thereby improving the reliability of robotic gripping and manipulation tasks.
Implementation Method 1
a viscoelastic characteristic of the protector
Data Source
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AI summary
A holder controller controls a holder to hold an object with a protector between the holder and the object. The holder controller controls a holding force of the holder based on a viscoelastic characteristic of the protector.