Mobile Manipulator Control Using Environmental Vibration Sensing
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Solution Overview
Problem
Mobile manipulators face challenges in accurately positioning themselves in dynamic environments, such as near vibrating machinery, leading to reduced operation rates, material misplacement, and environmental damage due to insufficient control adaptability.
Innovation Solution
Equipping mobile manipulators with environment acquisition sensors that gather data on vibration, temperature, brightness, noise, and sound levels at the movement destination, allowing the controller to adjust the manipulator's movement path and velocity to adapt to the environment, thereby preventing resonance and ensuring accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile manipulator operates near vibrating machinery without environmental sensing, then the device complexity is reduced, but the positioning precision deteriorates due to resonance and vibrations
Solution Approach 1:
The environment acquisition sensor acquires vibration data from the movement destination before the mobile manipulator arrives. The controller uses this advance information to calculate compensation amounts and adjust control parameters, enabling the manipulator to pre-adapt to the environmental conditions and avoid resonance issues before they occur.
Solution Approach 2:
The environment acquisition sensor continuously monitors vibration levels at the movement destination, providing feedback to the controller. The controller adjusts the manipulator's control parameters based on this real-time feedback, creating a closed-loop system that maintains positioning precision despite varying environmental conditions.
2Adaptability or versatility
If the mobile manipulator uses fixed control parameters, then the ease of operation is improved, but the adaptability to varying environmental conditions deteriorates
Solution Approach 1:
The controller dynamically adjusts control parameters based on vibration data acquired from the environment acquisition sensor. Instead of using fixed parameters, the system adapts its control characteristics in real-time according to the actual environmental conditions at the movement destination, optimizing performance for each specific location.
Solution Approach 2:
The controller changes control parameters such as gain values and filtering characteristics based on the vibration levels detected by the environment acquisition sensor. This parameter adaptation allows the manipulator to maintain stability and precision across different environmental conditions without requiring manual reconfiguration.
3Reliability
If the mobile manipulator moves quickly without environmental consideration, then the productivity is improved, but the reliability deteriorates due to resonance and potential falling
Solution Approach 1:
The system performs preliminary acquisition of environmental data before the manipulator reaches the movement destination. This advance preparation allows the controller to pre-calculate safe operating parameters and adjust the manipulator's control in advance, ensuring reliability is maintained without requiring speed reduction during critical positioning phases.
Data Source
AI summary
A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.