Robot Control Signal Filtering for Position-Dependent Vibration
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Solution Overview
Problem
Existing robot technologies face challenges in effectively reducing vibration across different operations due to varying resonance frequencies based on the position of the control point, requiring frequent recalibration of band-stop filters, which is complex and burdensome for users.
Innovation Solution
A control device that includes a second-control-signal generating section to determine and reduce specific frequency components from a first control signal based on reference information about combinations of control point positions and frequencies, allowing for efficient vibration reduction without measuring new resonance frequencies for each operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a band-stop filter is applied to reduce vibration at a specific resonance frequency, then vibration reduction is achieved for that operation, but the filter settings become invalid when the control point position changes, requiring recalibration
Solution Approach 1:
The patent pre-calculates and stores resonance frequency information for multiple control point positions in advance. When the control point position changes during operation, the system automatically retrieves the corresponding pre-calculated frequency information and adjusts the band-stop filter settings without requiring recalibration, thus maintaining vibration reduction effectiveness across different operations
Solution Approach 2:
The system dynamically adjusts the band-stop filter frequency settings based on the current control point position. By monitoring the control point position and automatically selecting appropriate frequency parameters from stored reference data, the filter adapts to different operational conditions while maintaining optimal vibration reduction performance
2Reliability
If the band-stop filter is recalibrated for each new operation to maintain vibration reduction, then vibration control accuracy is improved, but the complexity and burden on the user increases
Solution Approach 1:
The system performs automatic recalibration by itself without user intervention. When the control point position changes, the control device automatically retrieves the corresponding resonance frequency information from stored reference data and adjusts the band-stop filter settings autonomously, eliminating the need for users to manually measure and recalibrate for each operation
3Reliability
If manual measurement and reset of the band-stop filter is performed for each new operation, then vibration reduction is maintained, but the time and effort required increases
Solution Approach 1:
Resonance frequency information for multiple control point positions is pre-measured and stored in the system during setup. When operations change, the system automatically retrieves and applies the appropriate pre-stored frequency data, eliminating the need for time-consuming manual measurement and recalibration for each new operation
Solution Approach 2:
The system automatically manages filter recalibration by retrieving stored reference information and adjusting filter parameters based on the current control point position, completely automating the process that would otherwise require manual user intervention and significant time investment
Data Source
AI summary
A control device includes a second-control-signal generating section configured to reduce a predetermined frequency component from a first control signal for performing operation for moving a movable section of the robot to generate a second control signal and a storing section having stored therein reference information including information concerning combinations of ranges of positions of a control point of the robot and frequencies. The second-control-signal generating section determines, based on a position of the control point of the robot in the operation, with reference to the reference information, a frequency component to be reduced from the first control signal.