Robot Arm Roll Vibration Suppression via Inertial Feedback
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Solution Overview
Problem
Existing robot systems, such as horizontal articulated robots, fail to effectively suppress vibrations about the roll axis of their arms, which can lead to instability and difficulty in gripping or positioning objects accurately.
Innovation Solution
Incorporating an inertial sensor, such as an angular velocity sensor, in the robot arm to detect angular velocities about the roll axis and using a control apparatus with a motor control unit that performs feedback control to adjust the first motor's actuation, thereby reducing vibrations and maintaining precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If vibration suppression control is not implemented for roll axis vibrations, then the robot arm can operate with simpler control, but the positioning accuracy and stability deteriorate due to uncontrolled vibrations
Solution Approach 1:
The patent implements feedback control by using an inertial sensor to detect roll axis vibrations and automatically adjusting the motor actuation based on detected vibration levels. The control apparatus receives vibration information from the inertial sensor and modifies motor commands to suppress vibrations, creating a closed-loop system that maintains positioning accuracy without requiring complex manual intervention.
Solution Approach 2:
The patent replaces complex mechanical vibration suppression mechanisms with an electronic control system. Instead of using physical dampers or mechanical structures to suppress vibrations, the system uses an inertial sensor to detect vibrations and a control apparatus to electronically adjust motor actuation, substituting mechanical solutions with sensor-based electronic control.
2Reliability
If an inertial sensor is added to detect roll axis vibrations, then vibration suppression capability is improved, but the device complexity increases
Solution Approach 1:
The patent makes the inertial sensor serve multiple functions: it detects both the robot arm's position/orientation information and roll axis vibration information. By utilizing the same sensor for multiple purposes, the patent avoids adding separate sensors specifically for vibration detection, thereby reducing overall device complexity while maintaining vibration suppression capability.
Solution Approach 2:
The control apparatus automatically processes vibration detection data and adjusts motor actuation without requiring external intervention or complex additional control systems. The system uses its existing control infrastructure to handle vibration suppression, making the added inertial sensor integrate seamlessly with the existing control architecture rather than requiring entirely new control mechanisms.
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 vibrations in the robot arm, ensuring stable operation and accurate positioning of objects by actively controlling the motor based on real-time angular velocity data from the inertial sensor.
Implementation Method 1
an inertial sensor that detects an angular velocity about a roll axis of the arm
Implementation Method 2
the first motor control unit controls the first motor based on output from the inertial sensor
Data Source
AI summary
A robot system includes a robot having an arm including a first arm coupled to a base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, and a first motor pivoting the first arm about the first pivot axis, and a control apparatus having a first motor control unit that controls the first motor. The robot has an inertial sensor that detects an angular velocity about a roll axis of the arm or an acceleration in a tangential direction of a circle around the roll axis, and the first motor control unit controls the first motor based on the angular velocity or acceleration.