Host-Side Model Tracking Control for Robot Trajectory Precision
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Solution Overview
Problem
Conventional control systems for trajectory tracking in robots face challenges in achieving effective tracking capability due to response delays and varying trajectory properties, requiring user-adjusted delay times to correct position commands, which increases the user's adjustment load and complicates precision.
Innovation Solution
A control system configuration that includes a host-side control device with a model of the drive-side feedback system, allowing for correction of operation command signals using feedback from the drive-side control device, enabling model tracking control without direct user adjustment of delay parameters, thus enhancing trajectory tracking capability while reducing user burden.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feed-forward control with position model estimation is used to improve trajectory tracking, then tracking capability increases, but user adjustment burden increases due to delay time calibration requirements
Solution Approach 1:
The control system automatically performs delay time calibration and model parameter identification without requiring manual user adjustment. The host-side control device autonomously determines the optimal delay time by analyzing the relationship between command positions and actual positions, and automatically updates the position model parameters, thereby eliminating the burden of manual delay time calibration while achieving precise trajectory tracking
Solution Approach 2:
The system implements a feedback mechanism where the host-side control device continuously monitors the deviation between estimated future positions and actual target trajectory, uses this feedback to automatically adjust delay time and model parameters, and iteratively optimizes the position model until optimal tracking performance is achieved, replacing manual adjustment with automated feedback-driven calibration
2Reliability
If delay time is manually adjusted to achieve effective trajectory tracking, then tracking capability improves, but system complexity increases due to parameter adjustment requirements
Solution Approach 1:
The control system autonomously performs delay time calibration and model parameter identification without requiring manual user adjustment. The host-side control device automatically determines the optimal delay time by analyzing the relationship between command positions and actual positions, and updates the position model parameters, thereby simplifying the system by eliminating manual parameter adjustment interfaces and reducing operational complexity
Solution Approach 2:
The system performs automatic delay time calibration and model parameter identification during the initial setup phase or automatically upon system startup, determining optimal parameters before actual trajectory tracking operations begin. This preliminary automated configuration eliminates the need for users to understand or adjust complex parameters during normal operation, reducing system complexity from the user's perspective
Data Source
AI summary
A control system includes a drive-side control device and a host-side control device. The drive-side control device has a drive-side control structure including a drive-side feedback system and a drive-side control model part and configured so as to be capable of model tracking control in accordance with a control model which the drive-side control model part has. The host-side control device has a host-side control structure including a host-side control model part a host-side correcting signal based on a deviation between an output of the host-side control model part and the operation command signal is fed back to an input side of the host-side control model part, and a corrected command signal generated based on the host-side correcting signal that is fed back and the operation command signal is input to the host-side control model part. The corrected command signal is further input to the drive-side control structure.