Robot Control Device Dynamic Filter Switching for Vibration
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Solution Overview
Problem
Existing robot technologies face challenges in reducing vibration effectively during operations, particularly when frequency components change, leading to torque disorders and increased operation times due to inadequate vibration frequency adjustments.
Innovation Solution
A control device with a reception unit for designating frequency components, a second control signal generation unit to reduce these components, a third control signal generation unit for mixing control signals, and a control signal switching unit to output driving signals, allowing for efficient switching between control signals to minimize vibration and torque disorders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a band-elimination filter is applied to eliminate vibration frequency components from the torque control signal, then vibration resonance is reduced, but torque disorder and allophone occur when frequency switching is performed during operation
Solution Approach 1:
The patent implements dynamic switching between multiple band-elimination filters with different center frequencies based on the robot's operational state. The control device determines the current operation phase and selectively activates the appropriate filter, allowing the system to adapt to changing frequency requirements during different work phases while maintaining torque stability through smooth transitions.
Solution Approach 2:
The patent changes the filter parameters (center frequency and bandwidth) according to the robot's operational phase. Different operation phases have different dominant vibration frequencies, and the system adjusts the filter parameters to match the current phase requirements, thereby eliminating vibration effectively without causing torque disorder.
2Object-affected harmful factors
If the frequency component to be eliminated is changed according to operation phase, then vibration reduction effectiveness is improved, but operation time increases due to waiting for vibration to sufficiently decrease before switching
Solution Approach 1:
The patent pre-calculates and stores the optimal filter parameters for each operation phase in advance. When a phase transition is detected, the system can immediately switch to the pre-determined filter configuration without needing to wait for vibration to naturally decay, thereby reducing the time loss while maintaining effective vibration reduction.
Solution Approach 2:
The patent introduces a phase detection mechanism as an intermediary that triggers filter switching based on operational milestones rather than waiting for vibration amplitude thresholds. This intermediary allows the system to proactively switch filters at optimal moments determined by the operation phase, reducing unnecessary waiting time.
3Loss of time
If frequency switching is performed before vibration sufficiently decreases, then operation time is reduced, but torque disorder and allophone occur
Solution Approach 1:
The system dynamically determines the switching timing based on real-time operation phase detection rather than using fixed vibration amplitude thresholds. This allows the system to switch filters at the optimal moment for each phase transition, maintaining torque stability while minimizing operation time.
Solution Approach 2:
The patent implements feedback mechanisms that monitor both the operation phase and vibration characteristics to determine the optimal switching moment. The system uses this feedback to decide when to switch filters, ensuring that switching occurs at appropriate times that balance operation speed with torque stability.
Data Source
AI summary
A control device includes a processor wherein the processor is configured to: receive designation of one or more frequency components, generate one or more second control signals obtained by reducing at least one of the frequency components from a first control signal, generate one or more third control signals obtained using two control signals among the first control signal and the one or more second control signals, output one control signal among the first control signal, the one or more second control signals, and the one or more third control signals, and generate and output a driving signal to drive a robot based on the one control signal.