Robot Arm Drive Signal Correction for Weight-Based Vibration Control
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Solution Overview
Problem
Existing robot control methods require cumbersome vibration measurement techniques, such as tapping with a hammer, to determine natural frequencies for correcting torque control signals, which is inefficient and troublesome.
Innovation Solution
A method that acquires weight information of the end effector and object to be worked, determines the frequency component to be removed from the drive signal based on this information, and generates a correction drive signal to reduce vibration, eliminating the need for manual measurement techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If vibration measurement is performed by tapping with a hammer and using a measuring device, then the natural frequency can be accurately determined, but the operation becomes troublesome and time-consuming
Solution Approach 1:
The patent replaces the mechanical measurement system (hammer tapping and vibration measuring devices) with a computational system. The natural frequency is calculated using a calculation unit that processes weight information about the end effector and object, substituting physical measurement with mathematical computation based on the relationship between weight and natural frequency
Solution Approach 2:
The robot system performs self-diagnosis and self-adjustment by automatically calculating its own natural frequency based on weight information. The control unit internally determines the frequency component to be removed and applies correction to the torque control signal without external measurement equipment or manual intervention
2Reliability
If vibration measurement equipment and manual tapping are used, then the natural frequency can be specified, but the process becomes troublesome and inefficient
Solution Approach 1:
The patent replaces mechanical measurement processes with computational methods. The calculation unit computes natural frequency from weight information, eliminating the need for physical tapping and measurement equipment, thereby maintaining accuracy while dramatically improving work efficiency
Solution Approach 2:
The system performs preliminary calculation of the natural frequency based on weight information before actual operation. The control unit pre-determines the frequency component to be removed and prepares the corrected torque control signal in advance, enabling efficient operation without time-consuming measurement during setup
Data Source
AI summary
Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.