Robot Arm Vibration Suppression Using Sensor Extraction
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Solution Overview
Problem
Existing robot control systems require complex and costly computations to suppress vibration, often leading to errors and increased costs due to the need for high-performance CPUs and multiple sensors, which complicates the detection of angular velocity and acceleration.
Innovation Solution
A robot configuration with a base, first, second, and third arms, where the first arm has an angular velocity sensor and the third arm has an acceleration sensor with a detection axis parallel to the third rotating axis, allowing for simplified vibration suppression by using acceleration as angular velocity, reducing the need for complex computations and sensor placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a six-axis sensor is provided in the front end portion and coordinate transformation is performed, then vibration suppression control can be achieved, but the computation becomes complicated and enormous, requiring high-performance and expensive CPUs
Solution Approach 1:
The invention extracts only the necessary angular velocity information around the first rotating axis from the six-axis sensor data, rather than performing complete coordinate transformation. By selectively using only the required component (angular velocity around the first rotating axis), the system achieves vibration suppression without the computational burden of full Jacobi transformation
Solution Approach 2:
The invention segments the vibration suppression control into independent components for each rotating axis. By treating each axis separately and using only the necessary sensor components for each axis, the complex six-axis transformation problem is divided into simpler, independent measurement tasks
2Reliability
If complicated and enormous computation processing is performed, then vibration suppression control can be achieved, but computation errors are likely to occur and cannot sufficiently suppress vibration
Solution Approach 1:
The invention replaces complex computational processing with simple, direct angular velocity measurements. By using dedicated angular velocity sensors that provide ready-to-use data without requiring elaborate calculations, the system eliminates computation errors while maintaining vibration suppression effectiveness
3Measurement precision
If multiple sensors are provided for detecting angular velocity and acceleration, then vibration detection accuracy can be improved, but the device complexity and cost increase
Solution Approach 1:
The invention makes the six-axis sensor multi-functional by using it for both angular velocity detection around the first rotating axis and acceleration detection around the third rotating axis. This single sensor performs multiple measurement functions, eliminating the need for separate sensors and reducing overall system complexity
Solution Approach 2:
The angular velocity sensor is designed to simultaneously provide data for vibration suppression control of multiple arms. By configuring the sensor to detect angular velocity around the first rotating axis that reflects vibrations of both the first and third arms, the system achieves comprehensive monitoring with a single sensor
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 configuration effectively suppresses vibration reliably, reduces computational complexity, minimizes errors, and lowers costs by using fewer sensors and less complex calculations, while maintaining accurate detection of angular velocity and acceleration.
Implementation Method 1
an angular velocity sensor which is provided in the first arm
Implementation Method 2
an acceleration sensor which is provided in the third arm and in which an acceleration detection axis is parallel to an axis orthogonal to the third rotating axis
Data Source
AI summary
A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, an angular velocity sensor provided in the first arm, and an acceleration sensor provided in the third arm.