Robot Sensor Calibration Offset for Critical Motion Control
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Solution Overview
Problem
In robot control systems, sensors like potentiometers require calibration to convert detected values into accurate state quantities, but this process can be inaccurate, leading to difficulties in controlling robot operations effectively.
Innovation Solution
A control device and method that utilize a processor to obtain sensor detected values, apply a conversion function from calibration, and an offset value to compensate for differences between estimated and actual state quantities, especially in critical operational situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration is performed to convert sensor detected values into state quantities, then measurement precision is improved, but reliability deteriorates in critical situations due to conversion inaccuracies
Solution Approach 1:
The patent applies dynamics by switching between different conversion methods based on operational conditions. In critical situations where the robot operates near mechanical limits, the system dynamically switches from using the calibrated conversion function to using raw sensor detected values, thereby adapting the measurement approach to the operational context and maintaining reliability while preserving measurement precision in normal conditions
Solution Approach 2:
The patent changes the parameter being used for control based on the operational state. By monitoring whether the robot is in a critical situation (determined by comparing actual values against predetermined thresholds), the system changes which parameter source is used: calibrated state quantities during normal operation for precision, and raw sensor values during critical situations for reliability
2Measurement precision
If a conversion function from calibration is used to convert detected values, then measurement precision is improved, but device complexity increases due to calibration requirements
Solution Approach 1:
The patent applies partial action by using the calibrated conversion function only when necessary (during normal operation), while relying on raw sensor values during critical situations. This partial use of calibration reduces the overall complexity burden while maintaining measurement precision where it matters most, avoiding the need for complex calibration systems to operate in all conditions
Data Source
AI summary
A control device for a robot includes a processor configured to implement: a function of obtaining a signal indicating a detected value of a sensor detecting a state quantity of the robot; and a function of, in converting the detected value to an estimated value of the state quantity according to a conversion function obtained by calibration of the sensor, applying an offset value compensating for a difference between the estimated value and the actual state quantity in a critical situation in operation of the robot.