Parallel Link Controller with Predictive Vibration Suppression
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Solution Overview
Problem
Existing controllers for parallel link mechanisms require frequent adjustments of control parameters to suppress vibrations, increasing man-hours and operational complexity.
Innovation Solution
A controller with a drive control unit and a command section that includes a natural frequency prediction unit to calculate predicted natural frequencies for each interpolation position of the end effector, using a dynamic model simulating the mechanical system with a translational spring, and a filter to suppress frequency components accordingly, reducing the need for parameter adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If control parameters are adjusted frequently to suppress vibrations, then vibration suppression effectiveness is improved, but adjustment time and operational complexity increase
Solution Approach 1:
The system pre-calculates and stores optimal control parameters for multiple end effector positions before operation. During operation, the controller simply retrieves the pre-calculated parameters corresponding to the current position, eliminating the need for frequent real-time adjustments and reducing operational time while maintaining effective vibration suppression
Solution Approach 2:
The controller automatically selects and adjusts control parameters based on the detected end effector position without requiring manual intervention. The system self-regulates by comparing the current position with stored position-parameter mappings and autonomously applying the appropriate parameters, thereby reducing both adjustment time and operational complexity
2Reliability
If control parameters are adjusted for each end effector change, then vibration suppression is maintained, but operational complexity increases
Solution Approach 1:
Optimal control parameters for multiple end effector positions are pre-calculated and stored in memory before operation begins. During operation, the controller simply retrieves the appropriate pre-calculated parameters based on the current position, eliminating the need for complex real-time calculations and manual adjustments for each position change
Solution Approach 2:
The controller continuously monitors the end effector position and automatically selects the corresponding pre-calculated control parameters. This closed-loop feedback mechanism ensures that the appropriate parameters are always applied without requiring manual intervention, thereby reducing operational complexity while maintaining effective vibration suppression
Data Source
AI summary
A controller for a parallel link mechanism includes a drive control unit that controls driving of a parallel link mechanism and a command section that gives a command for controlling an actuator to the drive control unit. The command section includes a natural frequency prediction unit that calculates a predicted value string of a natural frequency changing depending on the position of an end effector for each interpolation position of the end effector by using a dynamic model that simulates a mechanical system from a base to a link joint of the parallel link mechanism with a translational spring and simulates a mechanical system from the link joint to the end effector with one rigid body. The drive control unit includes a filter that changes a frequency component to be suppressed for each interpolation positions according to a predicted value string at each interpolation position of the end effector.