Robot Control Device Using Frequency-Region Segmentation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robot control techniques lack the versatility to efficiently control multiple types of state quantities to target values under various operating conditions, particularly in force-controlled robots where joint displacement is variable due to external forces, and prioritize control based on instantaneous motion states and operating conditions.
Innovation Solution
A control device for robots that determines control inputs classified by state quantity using a generalized variable vector, synthesizes control inputs across frequency regions, and adjusts operations to achieve target values for each type of state quantity, allowing for non-interfering control of multiple state quantities in different frequency regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If position control is used to maintain constant joint displacement, then stability is improved, but flexibility in response to external forces deteriorates
Solution Approach 1:
The control inputs are segmented by frequency region, with different control strategies applied to different frequency ranges. Low-frequency control inputs maintain stability while high-frequency control inputs provide flexibility for external force responses, resolving the contradiction between stability and adaptability.
Solution Approach 2:
The control system dynamically adjusts the characteristics of control inputs based on frequency regions. The control device determines control inputs that adaptively balance stability requirements at low frequencies with flexibility requirements at high frequencies, allowing the system to achieve both stability and response flexibility.
2Measurement precision
If multiple state quantities are controlled to target values, then control precision is improved, but control complexity increases
Solution Approach 1:
The control device segments control inputs by frequency region and determines control inputs for multiple state quantities independently for each frequency region. This segmentation allows precise control of multiple state quantities while managing complexity through structured organization of control inputs.
Solution Approach 2:
The control device uses a unified approach to determine control inputs for multiple types of state quantities (position, posture, motion speed, etc.) through the same frequency-based control framework. This multi-functional control mechanism handles diverse state quantities with a single systematic method, improving precision without proportionally increasing complexity.
3Adaptability or versatility
If control inputs are synthesized across frequency regions, then operational versatility is improved, but computational complexity increases
Solution Approach 1:
The control device divides the control process into frequency region segments, determining control inputs for each region separately based on instantaneous motion states. This segmentation enables versatile operational control while managing computational complexity through structured frequency-based processing.
Solution Approach 2:
The control device preliminarily determines control inputs for each frequency region before synthesizing them. By pre-processing control inputs in organized frequency segments and then combining them, the system achieves high operational versatility while keeping computational complexity manageable through systematic organization.
Data Source
AI summary
Disclosed is a robot control device including a means for determining control inputs classified by state quantity for achieving respective target values of a plurality of types of state quantities of a robot, and a means for determining a synthesized control input by synthesizing control inputs classified by frequency region while determining control inputs classified by frequency region in a plurality of respective frequency regions, according to control inputs classified by state quantity. The means determines a control input classified by frequency region corresponding to any one of the frequency regions by synthesizing the plurality of control inputs classified by state quantity in a mutually non-interfering manner. The operation of the robot is controlled so that, under a variety of operating conditions of the robot, a plurality of types of state quantities are efficiently controlled to target values which correspond to the respective types of state quantities.