Holder Force Control With Viscoelastic Signal Correction
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Solution Overview
Problem
Existing robotic systems face challenges in accurately controlling grip forces due to the viscoelastic characteristics of protectors, which affect the responsiveness of force detection sensors, leading to instability in object holding.
Innovation Solution
A holder controller that includes a correction filter to perform first and second filtering on detection signals from force detection sensors, reducing the impact of viscoelastic characteristics and enhancing grip force control by adjusting the filter characteristics based on environmental, temporal, and usage changes of the protectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a protector is placed between the holder and the object to protect the sensing portion, then the reliability of the system is improved, but the measurement precision of the force detection sensor deteriorates due to viscoelastic characteristics
Solution Approach 1:
The patent introduces a correction filter as an intermediary component between the force detection sensor and the control system. This filter specifically compensates for the viscoelastic effects of the protector, allowing the system to maintain both the protective function and accurate force measurement. The correction filter processes the detection signal to remove distortions caused by the protector's viscoelastic characteristics.
Solution Approach 2:
The patent applies parameter changes by dynamically adjusting the correction filter characteristics based on environmental conditions, temporal changes, and usage history of the protector. By modifying the filter parameters (such as time constants or gain values) according to the actual state of the protector, the system maintains accurate force detection despite changes in the protector's viscoelastic properties over time or under different conditions.
2Speed
If the holder controller directly uses the detection signal from the sensor, then the responsiveness of the control system is improved, but the stability of grip force control deteriorates due to viscoelastic effects
Solution Approach 1:
The correction filter serves as a mediator that processes the detection signal before it reaches the control algorithm. By inserting this filter component, the system achieves both responsive control (by maintaining direct signal flow) and stable grip force (by correcting viscoelastic distortions in the signal path). The filter acts as an intermediate processing stage that reconciles the conflicting requirements of speed and stability.
Solution Approach 2:
The patent implements feedback by using the corrected detection signal to continuously adjust the holder's grip force. The correction filter provides accurate feedback information about the actual forces acting on the object, enabling the control system to make precise adjustments. This feedback mechanism ensures stable grip force control while maintaining responsiveness to changes in loading conditions.
3Measurement precision
If environmental and usage changes in the protector are considered, then the measurement precision is improved, but the device complexity increases due to additional correction mechanisms
Solution Approach 1:
The patent manages complexity by implementing parameter changes through software or programmable logic rather than adding physical components. The correction filter characteristics are adjusted based on environmental conditions and usage history, but this is achieved through algorithmic modifications rather than mechanical complexity. This allows the system to maintain high measurement precision while avoiding proportional increases in physical device complexity.
Solution Approach 2:
The system implements self-service by automatically adapting the correction filter parameters based on monitored environmental conditions and usage patterns. The holder controller autonomously adjusts the filter characteristics without requiring manual intervention or complex external calibration systems. This self-adjusting capability maintains measurement precision while minimizing the complexity of external control mechanisms.
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
Stabilizes the grip force control of robotic holders by accurately accounting for viscoelastic effects, ensuring stable and precise object handling.
Implementation Method 1
a viscoelastic characteristic of the protector, which affects the responsiveness of force detection sensors
Data Source
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.