Manipulator Endpoint Estimation Using Multi-Sensor Error Feedback
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Solution Overview
Problem
Existing methods for controlling manipulator endpoints are prone to inaccuracies due to noise in sensing data, leading to increased errors and costs in teaching manipulators to perform tasks, especially when components or environments change.
Innovation Solution
A control apparatus that utilizes multiple sensor systems and estimation models to calculate and adjust parameter values, reducing errors by averaging noise and converging estimate values to improve accuracy in estimating endpoint coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single sensor system is used to estimate endpoint coordinates, then the device complexity is low, but the measurement precision deteriorates due to noise in sensing data
Solution Approach 1:
The patent combines multiple sensor systems (first sensor system and second sensor system) to observe the manipulator endpoint, merging their respective sensing data to produce a more accurate estimation that compensates for individual sensor noise
Solution Approach 2:
The patent implements feedback by calculating the error between estimate values from different sensor systems and using this error information to adjust and optimize the estimation process, thereby improving measurement precision
2Reliability
If manual teaching is used for every component change, then the manipulator can perform tasks accurately, but the loss of time and productivity deteriorate
Solution Approach 1:
The patent enables the manipulator system to automatically adjust and optimize its operation through self-learning from sensing data and error feedback, eliminating the need for manual re-teaching when components or environments change
Solution Approach 2:
The patent performs preliminary error calculation and adjustment based on sensing data before actual task execution, allowing the system to proactively compensate for variations and maintain accuracy without time-consuming manual intervention
Data Source
AI summary
A control apparatus according to one or more embodiments may calculate a first estimate value of the coordinates of an endpoint of a manipulator based on first sensing data obtained from a first sensor system, calculates a second estimate value of the coordinates of the endpoint of the manipulator based on second sensing data obtained from a second sensor system, and adjust a parameter value for at least one of a first estimation model or a second estimation model to reduce an error between the first estimate value and the second estimate value based on a gradient of the error.