Robot Arm Oscillation Control via Intermediate Angular Velocity Sensor
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Solution Overview
Problem
Robots with multiple joints face challenges in suppressing oscillation at the distal end of their arms due to complex control requirements and accumulated errors, especially when the rotation axes of joints change, leading to amplified oscillation.
Innovation Solution
Incorporating a first and second angular velocity sensor in the robot's arm members, with a control unit that feedback-controls the joints based on the sensors' outputs to detect and manage movements, thereby reducing oscillation and error accumulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the technique of mounting an inertial sensor on the distal end side of an arm is applied to suppress oscillation, then oscillation can be suppressed in robots with fixed rotation axes, but oscillation cannot be sufficiently suppressed in robots where joint rotation axes change direction
Solution Approach 1:
The patent changes the mounting position parameter of the angular velocity sensor from the distal end to an intermediate position on the arm. This parameter change allows the sensor to detect oscillation while being less affected by the complex kinematic changes in robots with varying rotation axes, thereby maintaining oscillation suppression effectiveness across different robot configurations
Solution Approach 2:
The patent introduces an intermediate angular velocity sensor that acts as a mediator between the base and the distal end. This intermediate sensor detects oscillation at a position where the influence of changing rotation axes is reduced, providing more reliable feedback for control while still enabling effective oscillation suppression at the distal end
2Stability of the object's composition
If feedback control is applied to suppress distal end oscillation in robots with multiple joints having different rotation directions, then oscillation can be reduced, but control complexity increases and errors accumulate toward the distal end
Solution Approach 1:
The patent extracts the oscillation detection function from the distal end and places it at an intermediate position. This extraction simplifies the control problem by detecting oscillation at a point less affected by the complex cumulative effects of multiple joints with different rotation directions, thereby reducing control complexity while maintaining oscillation suppression effectiveness
Solution Approach 2:
The patent substitutes complex multi-joint oscillation analysis with direct angular velocity measurement at an intermediate position. Instead of calculating and controlling oscillation through complex mechanical models of multiple joints with varying rotation axes, the system directly measures angular velocity at a strategic location, simplifying the control approach
3Stability of the object's composition
If angular velocity sensors are mounted on arm members to detect movement for feedback control, then oscillation can be suppressed, but device complexity increases
Solution Approach 1:
The patent applies local quality by strategically placing the angular velocity sensor at a specific intermediate position on the arm rather than uniformly distributing sensors throughout the system. This localized placement provides sufficient oscillation detection capability with minimal sensor count, balancing oscillation suppression effectiveness with device simplicity
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 solution effectively suppresses arm oscillation in robots with multiple joints, even when the rotation axes of joints change, by accurately controlling movements and reducing the impact of errors, thus improving work efficiency and stability.
Implementation Method 1
a first angular velocity sensor provided in the first arm member or the first joint
Data Source
AI summary
A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.