Robot Arm Inertia Sensor Vibration Compensation
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Solution Overview
Problem
Existing robots face challenges in accurately compensating for vibration due to the inclination of angular velocity sensors relative to the joints and the inclusion of gravitational acceleration components in vibration detection, leading to incomplete vibration suppression.
Innovation Solution
Incorporating an inertia sensor with a controller that corrects the inclination of the sensor relative to the driving axis units and eliminates gravitational acceleration components from the detection results, allowing for precise compensation amounts to be acquired and applied for effective vibration suppression.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an angular velocity sensor is arranged in the arm to detect vibration, then vibration detection capability is provided, but the inclination of the sensor relative to the joint causes inaccurate compensation
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the sensor inclination angle based on the robot's joint angles. The controller calculates the actual inclination of the angular velocity sensor relative to the joint axis and uses this information to compensate for measurement errors. This transforms the fixed sensor mounting into an adaptive system that corrects for inclination variations through mathematical parameter adjustments, resolving the contradiction between providing vibration detection and maintaining measurement precision.
Solution Approach 2:
The patent introduces an intermediary approach by using the joint angle information as a mediator between the sensor's physical inclination and the vibration compensation calculation. The joint angle data serves as an intermediate parameter that translates the sensor's physical orientation into correction values, enabling accurate vibration compensation without requiring complex mechanical adjustments to the sensor itself.
2Measurement precision
If the sensor detects vibration, then vibration information is obtained, but gravitational acceleration components are included in the detection results
Solution Approach 1:
The patent applies the extraction principle by separating the gravitational acceleration component from the vibration signal. The controller calculates the gravitational acceleration vector based on the robot's pose (joint angles and link dimensions) and subtracts this component from the sensor's raw detection results. This extraction of the harmful gravitational component allows the remaining signal to represent true vibration only, resolving the contradiction between obtaining vibration information and eliminating gravitational interference.
Solution Approach 2:
The patent converts the harmful gravitational acceleration into a beneficial correction factor. Instead of treating gravity as a nuisance to be ignored, the system uses the gravitational component calculated from pose information to actively compensate for and eliminate its interfering effect. This transforms the gravitational interference into a controlled parameter that improves measurement accuracy when properly accounted for.
3Device complexity
If the sensor inclination is not corrected, then the system remains simple, but vibration compensation accuracy deteriorates
Solution Approach 1:
The patent replaces mechanical correction of sensor inclination with a computational approach. Instead of physically adjusting the sensor orientation or adding complex mechanical compensation mechanisms, the system uses software-based correction algorithms that calculate and apply inclination compensation based on joint angle data. This substitution of mechanical complexity with computational simplicity maintains device simplicity while achieving high measurement precision.
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
This approach enhances the accuracy of vibration compensation, enabling more precise control and effective suppression of vibrations in robotic systems.
Implementation Method 1
an inertia sensor(s) included in the arm
Data Source
AI summary
A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).