Robot Arm Vibration Control via Posture-Based Frequency Filtering

Solution Overview

Problem

Existing robot control methods require cumbersome processes, such as tapping with a hammer and using measuring devices, to determine natural frequencies for vibration reduction in robot arms, which is inefficient and troublesome.

Innovation Solution

A method for controlling robots that involves acquiring target position information, determining frequency components to be removed from drive signals based on the robot arm's posture or positional relationships, and generating correction drive signals to reduce vibration, thereby eliminating the need for physical tapping and measurement devices.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If physical tapping and measuring devices are used to determine natural frequency, then vibration reduction can be achieved, but the operation process becomes cumbersome and time-consuming

Engineering Contradiction:

Improvevibration reduction effectivenessVSAvoidoperation process simplicity

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The patent replaces the mechanical tapping method and physical measuring devices with an electrical signal-based identification approach. The natural frequency is determined by analyzing the relationship between drive signals and robot arm responses through electrical measurements, eliminating the need for mechanical impact testing and external measurement equipment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robot system performs its own natural frequency identification using its built-in sensors and control systems. The robot arm's own operational data and response characteristics are utilized to determine its natural frequency, making the system self-diagnostic and eliminating the need for external measurement devices and manual tapping procedures.

Inventive Principle:

Principle #25Self-service

2Reliability

If physical tapping and measuring devices are used to determine natural frequency, then vibration reduction can be achieved, but the time required for setup and measurement increases

Engineering Contradiction:

Improvevibration reduction effectivenessVSAvoidsetup and measurement time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent replaces the mechanical tapping method and physical measuring devices with an electrical signal-based identification approach. The natural frequency is determined by analyzing the relationship between drive signals and robot arm responses through electrical measurements, eliminating the need for mechanical impact testing and external measurement equipment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The natural frequency identification is performed as a preliminary step using electrical signal analysis before the actual vibration reduction control is implemented. This allows the system to pre-determine the natural frequency and prepare the necessary correction parameters, reducing the time required during actual operation.

Inventive Principle:

Principle #10Preliminary action

3Reliability

If natural frequency is determined through traditional methods, then vibration correction can be applied, but the device complexity increases due to additional measuring equipment

Engineering Contradiction:

Improvevibration correction capabilityVSAvoidmeasuring device requirements

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces the mechanical tapping method and physical measuring devices with an electrical signal-based identification approach. The natural frequency is determined by analyzing the relationship between drive signals and robot arm responses through electrical measurements, eliminating the need for mechanical impact testing and external measurement equipment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robot's built-in control system and sensors serve multiple functions: they not only control the robot arm's motion but also perform natural frequency identification and vibration correction. This multi-functionality eliminates the need for separate measuring devices and reduces overall system complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12162168B2Method for controlling robot, robot system, and storage medium

Publication Date: 2024.12.10 SEIKO EPSON CORP

AI summary

Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring target position information on a target position when the robot arm is moved; a second step of determining a frequency component to be removed from a drive signal for driving the motor based on a posture of the robot arm at the target position of the acquired target position information; and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.