Robot Arm Servo Parameter Control for Inclined Angle Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robot arms face performance deterioration when operating at inclined angles due to suboptimal servo parameters set for horizontal configurations, leading to reduced position accuracy and responsiveness.
Innovation Solution
A control method and device that calculate a third servo parameter based on first and second servo parameters corresponding to different setting angles, allowing for accurate adjustment of position feedforward, position control, and speed control gains, as well as force detection parameters, to optimize robot arm performance regardless of the setting angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the robot is set in an inclined state to reach the work target object, then the robot can access the workbench, but the servo parameters become suboptimal and driving performance deteriorates
Solution Approach 1:
The patent changes the servo parameters (position feedforward gain, position control gain, speed control gain) based on the robot's setting angle. By adjusting these parameters according to the inclination angle, the system maintains optimal driving performance whether the robot is horizontal or inclined, thus resolving the contradiction between reach distance and driving performance
2Reliability
If the robot arm is set at a first setting angle, then the servo parameters are optimized for that angle, but the parameters are not optimum when the robot arm is set at a different angle
Solution Approach 1:
The patent makes the servo parameters dynamic by calculating and adjusting them according to the actual setting angle of the robot arm. Instead of using fixed parameters optimized for a specific angle, the system continuously adapts the parameters based on the current inclination angle, enabling both optimization and adaptability simultaneously
Solution Approach 2:
The system changes the servo parameters (position feedforward gain, position control gain, speed control gain) as a function of the setting angle. This parameter adaptation allows the robot to maintain optimal performance across different operating angles, resolving the contradiction between parameter optimization for a specific angle and adaptability to multiple angles
Data Source
AI summary
A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm including an arm and a driving section including a servomotor that drives the arm, a calculating step for calculating, based on a first servo parameter corresponding to setting at a first setting angle for the robot arm and a second servo parameter corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third servo parameter corresponding to the setting angle for the robot arm.