Robot Arm Vibration Damping via Dynamic Feedback Gain
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Solution Overview
Problem
Existing robot control methods are ineffective in reducing vibrations in directions other than the operating direction of the arms, leading to unstable operations and reduced vibration damping effects.
Innovation Solution
A control method for robots that involves receiving inertial information from sensors, adjusting the feedback gain to enhance vibration damping during arm operations, and subsequently reducing the gain after a predetermined time to maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If vibration damping control is performed by feeding back vibrations in operating directions of arms, then vibrations in operating directions are reduced, but vibrations in other directions (e.g., along rotational movement axis) cannot be reduced and may cause unstable operations
Solution Approach 1:
The patent changes the parameter of feedback gain dynamically based on the operational state of the arm. By adjusting the feedback gain according to the operational direction and intensity, the control system can effectively dampen vibrations in operating directions while avoiding excessive feedback that would cause instability in other directions. This parameter adaptation allows the system to maintain operational stability while reducing harmful vibrations.
2Object-affected harmful factors
If feedback gain is increased to enhance vibration damping, then vibration suppression effect is improved, but operations may become unstable when vibrations occur in directions different from operating direction
Solution Approach 1:
The patent implements dynamic adjustment of feedback gain based on real-time operational conditions. The feedback gain is not fixed but varies according to the arm's operational state, allowing the system to enhance vibration damping when needed while reducing feedback gain to prevent instability when vibrations occur in non-operational directions. This dynamic approach resolves the contradiction between vibration suppression and operational stability.
Data Source
AI summary
A control method of a robot includes: an inertial information reception step of receiving an output signal from an inertial sensor that measures an operation of an arm; a first feedback gain adjustment step of performing adjustment to increase a feedback gain to be multiplied by the output signal or a signal generated from the output signal, according to a change in the operation of the arm; a drive control step of controlling a drive of the arm by using the feedback gain increased in the first feedback gain adjustment step; and a second feedback gain adjustment step of performing adjustment to decrease the feedback gain after elapse of a predetermined time from the first feedback gain adjustment step.