Robot Arm Overshoot Detection Using Inertial-Encoder Fusion
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Solution Overview
Problem
Existing robot control systems face challenges in accurately detecting overshoot amounts due to noise-induced drift when integrating acceleration signals, as low-frequency components, essential for arm movement, are removed during filtering, making it difficult to precisely detect overshoot.
Innovation Solution
A method and system that synchronize signals from inertial sensors and encoders to generate and supplement low-frequency components, allowing for accurate detection of overshoot amounts by integrating inertial sensor signals and removing noise through high-pass filtering, while maintaining essential movement information from encoder signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If low-frequency component is removed from acceleration signal through filtering, then drift due to noise is reduced, but accurate detection of arm movement and overshoot amount becomes difficult
Solution Approach 1:
The patent combines encoder position information with acceleration sensor data by integrating encoder-derived velocity and acceleration with sensor measurements. This merging allows the system to maintain low-frequency movement information from the encoder while using the acceleration sensor for high-frequency dynamics, resolving the contradiction between noise reduction and information preservation
Solution Approach 2:
The patent introduces an intermediary approach by using encoder position data as a reference to reconstruct the full acceleration signal. The encoder acts as an intermediary that provides clean low-frequency position information, which is then differentiated and integrated with acceleration sensor data to recover both low-frequency movement and high-frequency dynamics without noise-induced drift
2Measurement precision
If acceleration signal is integrated twice to detect position, then position detection is achieved, but drift occurs due to noise accumulation
Solution Approach 1:
The patent uses encoder position information as an intermediary reference to correct drift in the integrated acceleration signal. By differentiating encoder position to obtain velocity and acceleration, and comparing these with sensor-derived values, the system eliminates drift accumulation while maintaining position detection accuracy
Solution Approach 2:
The patent implements feedback by continuously comparing encoder-derived acceleration with acceleration sensor measurements and using this comparison to correct integrated position values. This feedback mechanism prevents drift accumulation by regularly referencing the reliable encoder position data
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 enables more accurate detection of overshoot amounts, improving the precision of robot operations and efficiency by accurately calculating the three-dimensional movement trajectory and reducing residual vibrations, thus enhancing working accuracy and efficiency.
Implementation Method 1
a first synchronizing signal output from the inertial sensor that detects inertia in a working unit of the arm
Implementation Method 2
a second synchronizing signal output from the encoder that detects an amount of displacement of the arm
Data Source
AI summary
An overshoot amount detection method includes a synchronization step of synchronizing a signal of an inertial sensor with a signal of an encoder based on a first synchronizing signal output from the inertial sensor during a signal synchronizing operation and a second synchronizing signal output from the encoder during the signal synchronizing operation, a signal generation step of generating a first signal by twice integration of a first detection signal output from the inertial sensor during a working operation and removal of a low-frequency component contained in the first detection signal and generating a second signal for supplement of the low-frequency component of the first signal from a second detection signal output from the encoder during the working operation, and an overshoot amount detection step of detecting an overshoot amount of an arm based on the first signal and the second signal.