Robot Arm Inertia-Vibration Modeling for Real-Time Vibration Control
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Solution Overview
Problem
Existing methods for suppressing mechanical vibrations in robot arms, particularly those with light-weight designs, are cumbersome and time-consuming due to the need for extensive measurements of eigenfrequencies and damping at numerous configurations, making real-time evaluation difficult.
Innovation Solution
An inertia-vibration model is developed to relate the inertia and vibrational properties of a robot arm, allowing for efficient control of vibrations by generating control signals based on this model, which includes the effects of external objects connected to the arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If extensive measurements of eigenfrequencies and damping at numerous configurations are performed, then accurate vibrational properties are obtained, but the process becomes cumbersome and time-consuming
Solution Approach 1:
The patent performs measurements at a limited number of pre-selected robot arm configurations rather than attempting to measure all possible configurations. By strategically choosing representative configurations beforehand, the system obtains sufficient vibrational property data without exhaustive measurement, thus reducing measurement time while maintaining adequate precision for vibration suppression control
Solution Approach 2:
The patent creates a dynamic model that copies or represents the vibrational properties of the robot arm across different configurations based on measurements from limited configurations. This model allows the system to estimate vibrational properties for configurations not directly measured, reducing the need for extensive actual measurements while maintaining measurement precision through model-based prediction
2Measurement precision
If measurements are taken at numerous configurations, then comprehensive vibrational data is obtained, but real-time evaluation becomes difficult
Solution Approach 1:
The patent extracts the essential vibrational properties from extensive measurement data by identifying key parameters such as eigenfrequencies and damping ratios at critical configurations. This extraction process separates the most important vibrational characteristics from the complete set of measurement data, making real-time evaluation feasible by focusing computational resources on the most significant parameters rather than processing all measurement data
Solution Approach 2:
The patent transforms the measured vibrational properties into a dynamic model where vibrational characteristics are expressed as functions of robot arm configuration parameters. By changing the representation from raw measurement data to parameterized model functions, the system enables real-time evaluation through efficient parameter interpolation and model-based calculation rather than direct processing of extensive measurement datasets
3Weight of moving object
If light-weight design is implemented, then robot performance and safety are improved, but mechanical vibrations increase
Solution Approach 1:
The patent deliberately uses and controls mechanical vibrations through input shaping techniques. Rather than simply trying to eliminate vibrations, the system generates shaped input signals that account for the robot arm's vibrational characteristics, causing the vibrations to be predictable and controllable. This allows light-weight design to be maintained while vibration effects are managed through intelligent control rather than heavy structural damping
Solution Approach 2:
The patent implements vibration suppression control that uses feedback from the dynamic model to adjust control signals in real-time. By continuously monitoring robot arm configuration and using the pre-established dynamic model to predict vibrational behavior, the system generates compensating control signals that counteract harmful vibrations while maintaining the benefits of light-weight construction
Data Source
AI summary
A method and robot controller configured to obtain an inertia-vibration model of the robot arm. The inertia-vibration model defines a relationship between the inertia of the robot arm and the vibrational properties of said robot arm and have been by setting the robot arm in a plurality of different physical configurations and for each of said physical configurations of said robot arm obtaining the vibrational properties and the inertia the robot arm. The inertia-vibration model makes it possible to in a simple and efficient way to obtain the vibrational properties of different physical configurations of the robot arm whereby the robot arm can be controlled according to the vibrational properties of the robot arm. This makes it possible to reduce the vibrations of the robot arm during movement of the robot arm.