Position-Force Control Energy Distribution for Adaptive Robot Actuation
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Solution Overview
Problem
Conventional robots lack environmental adaptability and flexibility in performing tasks that require high-precision force control and sampling of movements in a human coordinate system, limiting their ability to replace humans in time-consuming and effortful tasks.
Innovation Solution
A position/force controller that includes a function-dependent force/velocity distribution converter, a control-amount calculator, and an integrator, which distribute control energy based on velocity, position, and force information to achieve specific functions, allowing for flexible control of actuators and adaptation to environmental changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robots use fixed mechanical impedance for actuator reproduction, then the system structure is simple, but environmental adaptability and flexibility are insufficient
Solution Approach 1:
The patent implements dynamic adjustment of mechanical impedance by introducing a function-dependent force/velocity distribution converter that continuously adapts the impedance characteristics based on the current operational phase and environmental conditions. This allows the robot to transition between different control modes (position control, force control, hybrid control) dynamically, resolving the contradiction between maintaining simple system structure and achieving environmental adaptability.
Solution Approach 2:
The patent changes the mechanical impedance parameters dynamically by adjusting the distribution ratio between force and velocity control based on environmental adaptability requirements. The system modifies control parameters in real-time according to environmental feedback, enabling adaptation to different environments without requiring completely different system architectures.
2Adaptability or versatility
If high-precision force control is implemented for environmental adaptability, then environmental adaptability improves, but control system complexity increases
Solution Approach 1:
The patent segments the control system into distinct functional modules: a function-dependent force/velocity distribution converter, a control amount calculator, and an integrator. This segmentation allows high-precision force control to be implemented in a structured manner, where each module handles specific aspects of the control task, reducing overall system complexity while maintaining environmental adaptability.
Solution Approach 2:
The patent introduces a function-dependent force/velocity distribution converter as an intermediary component between the environmental sensing system and the actuator control system. This intermediary processes environmental information and transforms it into appropriate force control commands, enabling high-precision force control without directly complicating the entire control system architecture.
3Adaptability or versatility
If fixed mechanical impedance is used for actuator reproduction, then device complexity is low, but adaptability to environmental changes such as positions, sizes and mechanical impedances is insufficient
Solution Approach 1:
The patent implements dynamic adaptation to environmental changes by continuously adjusting the mechanical impedance through the function-dependent force/velocity distribution converter. The system dynamically modifies control parameters based on detected environmental variations including position changes, size variations, and mechanical impedance differences, enabling robust adaptation without requiring complex reconfiguration mechanisms.
Data Source
AI summary
A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.