Robot Arm Angular Velocity Sensor Placement for Vibration Suppression
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Solution Overview
Problem
Existing robot control systems require complex and costly arithmetic processing to suppress vibrations, leading to potential errors and increased costs due to the need for high-performance CPUs and frequent coordinate axis transformations.
Innovation Solution
A robot system with angular velocity sensors installed on specific arms, allowing for direct detection and suppression of vibrations without the need for complex arithmetic corrections, reducing the number of sensors and processing requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If coordinate axis transformation and complex arithmetic processing are performed to obtain vibration components from six-axis sensor data, then vibration suppression can be achieved, but device complexity and cost increase due to requiring high-performance CPUs
Solution Approach 1:
The patent extracts only the necessary vibration information directly from sensors mounted on specific links, avoiding the need to process all six-axis sensor data through complex coordinate transformations. By placing angular velocity sensors directly on the first and third arms, the system extracts vibration components at the source rather than computing them from transformed data.
Solution Approach 2:
Instead of transforming sensor data from a fixed coordinate system to moving link coordinate systems (the conventional approach), the patent inverts the approach by mounting sensors directly on the moving links and using their detection axes aligned with the link's rotation axis. This eliminates the need for Jacobi transformation and complex arithmetic operations.
2Measurement precision
If complex arithmetic operations are performed frequently to track motor rotation angles and transform coordinates, then vibration components can be calculated, but arithmetic errors increase and response speed decreases
Solution Approach 1:
The patent extracts vibration information directly through sensors mounted on the links with detection axes aligned to the rotation axes. This direct extraction method eliminates the need for frequent coordinate transformations and complex arithmetic operations that accumulate errors, thereby improving measurement precision and reliability simultaneously.
3Reliability
If six-axis sensors are installed at the front end and coordinate transformation is performed, then vibration can be suppressed, but the number of sensors and processing requirements increase
Solution Approach 1:
The patent extracts vibration information directly from two angular velocity sensors mounted on the first and third arms, rather than using six-axis sensors at the front end and performing complex transformations. This direct extraction approach reduces the number of sensors needed while improving the reliability of vibration suppression.
Solution Approach 2:
Instead of using six-axis sensors at the front end with coordinate transformation, the patent inverts the approach by mounting angular velocity sensors directly on the moving arms with detection axes aligned to the rotation axes. This reduces sensor quantity and eliminates complex processing requirements.
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 simplifies the configuration, reduces costs, and enhances vibration suppression reliability while increasing response speed by eliminating the need for complex arithmetic operations and sensor orientation corrections.
Implementation Method 1
a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation
Implementation Method 2
a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation
Data Source
AI summary
A robot includes: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.