Robot Arm Drive Signal Filtering for Vibration Damping

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing robot control methods require cumbersome processes such as tapping the robot arm with a hammer and using vibration measurement devices to determine natural frequencies, making it troublesome to reduce arm vibrations.

Innovation Solution

A method for controlling a robot that involves acquiring height information of the robot arm's tip end during operation or stoppage, determining a frequency component to be removed from the drive signal based on this information, and generating a correction drive signal by removing that frequency component.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If vibration measurement devices and hammer tapping are used to determine natural frequency, then vibration reduction accuracy is improved, but device complexity and operational difficulty increase

Engineering Contradiction:

Improvenatural frequency measurement accuracyVSAvoidmeasurement device complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The robot arm itself serves as the measurement system by using its own drive signals and position feedback to identify natural frequency, eliminating the need for external measurement devices and hammer tapping operations

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The mechanical measurement system (hammer and vibration sensors) is replaced with an electrical control system that uses the robot's own drive signals and position detection to identify vibration characteristics

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If vibration measurement devices and hammer tapping are used to determine natural frequency, then vibration reduction accuracy is improved, but operational difficulty increases

Engineering Contradiction:

Improvenatural frequency measurement accuracyVSAvoidoperation simplicity

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The robot automatically identifies its own natural frequency using its existing drive signals and position feedback, eliminating the need for operators to perform manual hammer tapping and measurement operations

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The manual mechanical measurement process is replaced with an automated electrical control process that calculates natural frequency from the robot's own operational data

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Reliability

If natural frequency is determined using external measurement methods, then vibration reduction effectiveness is improved, but processing time increases

Engineering Contradiction:

Improvevibration reduction effectivenessVSAvoidmeasurement and setup time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The natural frequency identification is integrated into the robot's normal operation, allowing vibration parameters to be determined in advance without separate measurement steps

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robot continuously monitors its own vibration characteristics during normal operation, eliminating the need for separate measurement sessions and reducing overall processing time

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12290942B2Method for controlling robot, robot system, and storage medium

Publication Date: 2025.05.06 SEIKO EPSON CORP

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.