Robot Arm Orientation Control for Vibration Mitigation
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Solution Overview
Problem
Conventional robot systems face challenges in maintaining a stable operation posture while moving, leading to vibration-induced meandering of the operation track, which affects the linearity and accuracy of tasks such as sealing, coating, and welding.
Innovation Solution
A robot system comprising a mount rotatable about a height axis, a first arm connected rotatably around a perpendicular axis, and a control circuit that determines and calculates the optimal angle between the travel direction and the arm orientation to minimize vibration influence, ensuring the robot maintains a stable operation posture during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves while performing operations, then productivity is improved, but vibration-induced meandering occurs which deteriorates manufacturing precision
Solution Approach 1:
The control circuit determines the lastly moved part and calculates the optimal arm orientation angle before the robot begins moving. This preliminary calculation of the angle between the travel direction and orientation axis allows the robot to maintain proper posture throughout the movement, preventing vibration-induced meandering while enabling continuous operation for improved productivity
Solution Approach 2:
The system dynamically adjusts the orientation angle parameter of the robot arm based on the determined lastly moved part. By changing the angular parameter to match the travel direction, the robot maintains optimal posture during movement, eliminating meandering while preserving the productivity benefits of mobile operation
2Adaptability or versatility
If the robot changes posture during movement, then adaptability is improved, but stability of operation posture deteriorates causing vibration and meandering
Solution Approach 1:
The control circuit determines the optimal orientation angle in advance based on the lastly moved part before movement begins. This preliminary determination ensures the robot adopts the correct posture for the upcoming travel direction, maintaining stability throughout the operation while still allowing adaptability to different work scenarios
Solution Approach 2:
The system applies different orientation angles based on the specific lastly moved part of the robot. Each part configuration receives a tailored angular adjustment, providing local optimization of posture stability for each operational scenario while maintaining overall system adaptability
Data Source
AI summary
A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.