Robot Base Active Damping for End Effector Position Accuracy
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Solution Overview
Problem
Existing systems with robot arms mounted on moving robot bases face challenges in accurately positioning the end effector due to unintentional movements caused by factors like gravity, wind, and vibrations, especially as the distance from the base increases.
Innovation Solution
A system that includes a robot base, a robot arm with an end effector, a tracking system to measure the robot base's position and movement, and an active damping system that actively damps the robot base's movement. The control system determines movement corrections based on tracking system signals and controls the active damping system to maintain accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the distance from the robot base to the end effector is increased to expand working range, then the working range is improved, but positioning accuracy deteriorates due to unintentional movements of the robot base
Solution Approach 1:
The tracking system continuously monitors the robot base position and provides feedback to the control system, which adjusts the end effector position in real-time to compensate for base movements, maintaining positioning accuracy across extended working ranges
Solution Approach 2:
The control system acts as an intermediary that receives position data from the tracking system and calculates correction values, transforming the raw base movement data into compensated end effector positioning commands
2Stability of the object's composition
If passive damping structures are added to reduce robot base movements, then movement stability is improved, but device complexity increases
Solution Approach 1:
The system replaces passive mechanical damping structures with an active control system that uses sensors, processors, and actuators to dynamically counteract base movements, achieving stability through control algorithms rather than mechanical means
3Manufacturing precision
If active damping control is implemented to counteract robot base movements, then positioning accuracy is improved, but use of energy increases
Solution Approach 1:
The active damping system applies corrections only when and where needed based on actual base movement measurements, rather than continuously opposing all movements, optimizing energy consumption while maintaining positioning accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively reduces unintentional movements of the robot base, thereby improving the accuracy of the end effector's positioning, even at greater distances from the base, and enhances the precision of interactions within the physical environment.
Implementation Method 1
The active damping system may include an inertial actuator, a linear inertial actuator, a rotational inertial actuator, or the like. The active damping system may include a flywheel and drive supported by the robot base.
Data Source
AI summary
The present disclosure provides a system for performing interactions within a physical environment, the system including: (a) a robot base; (b) a robot base actuator that moves the robot base relative to the environment; (c) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; (d) a tracking system that measures at least one of (i) a robot base position indicative of a position of the robot base relative to the environment; and, (ii) a robot base movement indicative of a movement of the robot base relative to the environment; (e) an active damping system that actively damps movement of the robot base relative to the environment; and, (f) a control system that: (i) determines a movement correction in accordance with signals from the tracking system; and, (ii) controls the active damping system at least partially in accordance with the movement correction.