Robot Joint Acceleration Control for Load-Limited Motion Tuning
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Solution Overview
Problem
Existing robot arm motion generation systems struggle to adjust acceleration parameters effectively, especially when the jerk limiting condition varies with the robot's posture and when users with low learning levels attempt to set appropriate motion spaces, leading to suboptimal jerk performance.
Innovation Solution
An acceleration adjustment apparatus and program that calculates peak loads on a robot based on motion equations and adjusts acceleration by decreasing or increasing it until the load falls within a target range, using methods like binary search or gradient optimization, allowing for automatic parameter adjustment regardless of user expertise.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual adjustment of acceleration parameters is performed to optimize robot operation, then the robot can achieve appropriate load and takt time, but the user burden increases significantly especially when there are many variations of teaching points
Solution Approach 1:
The system automatically determines acceleration parameters by having the robot execute trial operations and measure actual loads, then autonomously adjusts acceleration values based on feedback from load sensors, eliminating the need for manual parameter tuning by users
Solution Approach 2:
The system implements a closed-loop feedback mechanism where load sensors measure actual loads during robot operation, compare them against target values, and use this information to automatically adjust acceleration parameters for optimal performance
2Device complexity
If the jerk limiting condition is assumed constant in one divided space, then parameter determination becomes simpler, but the assumption is not satisfied when the space is large and inertia moment varies with robot arm posture
Solution Approach 1:
The system transitions from static jerk limiting conditions to dynamic adjustment by measuring actual loads during motion and automatically adapting acceleration parameters to match varying inertia moments caused by different robot arm postures
Solution Approach 2:
The system changes acceleration parameters dynamically based on measured load conditions rather than using fixed jerk limiting values, allowing optimal performance across varying robot configurations and postures
3Adaptability or versatility
If the space division size is set by the user, then the system can be configured flexibly, but users with low learning levels cannot set appropriate space sizes
Solution Approach 1:
The system eliminates the need for users to manually configure space division sizes by automatically determining optimal acceleration parameters through trial operations and load measurements, making the system accessible to users regardless of their expertise level
Data Source
AI summary
An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.