Mobile Manipulator Control for Vibration-Adaptive Positioning
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Solution Overview
Problem
Mobile manipulators face challenges in accurately positioning themselves in dynamic environments, such as near machinery with large vibrations, leading to reduced operation rates, material clogging, and environmental damage due to inadequate control adaptability.
Innovation Solution
A mobile manipulator system that acquires environmental data including vibration levels, frequency, and temperature at the movement destination, using sensors like acceleration and temperature sensors, to adjust its movement path and velocity, and control mode to adapt to the environment, thereby preventing resonance and improving positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the mobile manipulator operates near machinery with large vibrations, then it can access more work locations, but positioning accuracy deteriorates due to resonance
Solution Approach 1:
The system performs preliminary acquisition of environmental data (vibration levels, frequency, temperature) at the movement destination before executing the manipulator operation. This allows the control device to pre-adjust control parameters and select appropriate control modes to counteract anticipated vibrations, thereby maintaining positioning accuracy while accessing diverse work locations.
Solution Approach 2:
The control device dynamically adjusts control parameters based on acquired environmental data. The system switches between different control modes (e.g., high-precision mode for low-vibration environments, vibration-compensation mode for high-vibration environments) to adapt to changing conditions, thereby maintaining positioning accuracy across various work locations.
2Productivity
If the mobile manipulator moves quickly to reach work locations, then productivity increases, but positioning accuracy deteriorates due to residual vibrations
Solution Approach 1:
The system acquires environmental data at the movement destination before the manipulator arrives and executes operation. This preliminary information allows the control device to prepare appropriate control parameters that compensate for anticipated vibrations from rapid movement, enabling both high speed and high precision.
Solution Approach 2:
The system uses acquired environmental data (vibration levels, frequency) as feedback to adjust control parameters. Based on the feedback about environmental conditions and vibration characteristics, the control device optimizes control gains and damping parameters to maintain positioning accuracy even after rapid movements.
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 system effectively suppresses resonance and improves positioning accuracy, reducing the risk of material clogging and environmental damage by dynamically adjusting to environmental conditions, enhancing operational efficiency and safety.
Implementation Method 1
acquire environmental data including vibration levels, frequency, and temperature at the movement destination, using sensors like acceleration and temperature sensors
Implementation Method 2
acquire environmental data including vibration levels, frequency, and temperature at the movement destination, using sensors like acceleration and temperature sensors
Implementation Method 3
adjust its movement path and velocity, and control mode to adapt to the environment, thereby preventing resonance
Data Source
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AI summary
Provided are a mobile manipulator for realizing a control adaptive to the environment at a movement destination, and a method for controlling the mobile manipulator with which a control adaptive to the environment at a movement destination is realized, and a program for realizing a control adaptive to the environment at a movement destination. A mobile manipulator (10) includes a moving apparatus (10a), a manipulator (10r) that is connected to the moving apparatus (10a), a controller (10g) configured to control the moving apparatus (10a) and the manipulator (10r), and an environment acquisition sensor (10s) 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 (10a) in association with a position at the movement destination, and the controller (10g) controls at least one of the moving apparatus (10a) and the manipulator (10r) based on the environmental data.