Robot Arm Control Using External Object Vibration Properties
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Solution Overview
Problem
Existing robot arm control methods struggle to effectively suppress vibrations caused by external objects, as they rely on pre-calibrated dynamic properties that do not account for varying vibrational influences from external objects and structures, leading to inefficient vibration suppression and increased inspection times in applications like visual inspection.
Innovation Solution
A robot controller with an external object installation interface that receives and accounts for the vibrational properties of connected external objects, generating control signals to minimize vibrations by integrating these properties into the control algorithms, allowing for real-time adjustment and improved motion planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If pre-calibrated dynamic properties are used for vibration suppression, then control simplicity is maintained, but vibration suppression effectiveness deteriorates due to varying external object influences
Solution Approach 1:
The patent applies dynamics by transitioning from static pre-calibrated dynamic properties to dynamic properties that are continuously updated based on real-time measurements of the robot arm's actual motion and vibrations. The controller adapts the dynamic model online to account for varying external object influences, making the vibration suppression effective across different operating conditions without requiring complex manual recalibration.
2Weight of moving object
If mechanical flexibility is increased for light-weight design, then safety and energy consumption are improved, but mechanical vibrations increase
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting control parameters based on real-time measurements of the robot arm's motion and vibrations. The controller modifies control signals adaptively to suppress vibrations at different frequencies and amplitudes, allowing the light-weight robot arm to maintain high performance without excessive vibrations during operation.
Data Source
AI summary
A method and a robot controller for controlling a robot arm, where the robot arm comprises a plurality of robot joints connecting a robot base and a robot tool flange, where each of the robot joints comprises an output flange movable in relation to a robot joint body and a joint motor configured to move the output flange in relation to the robot joint body. The robot arm is controlled based on vibrational properties of at least one external object connected to the robot arm, where the vibrational properties are received via an external object installation interface by generating control signals for said robot arm based on a target motion and the received vibrational properties of the at least one external object, the control signal comprises control parameters for said joint motor.