Robot Control System Vibration Correction Validation
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Solution Overview
Problem
Existing control systems for robots fail to effectively and continuously correct vibration and torsion during operation, as they rely on periodic learning and updating of correction values without ensuring the validity of internal parameters, mounting position, and sensor posture.
Innovation Solution
A control system that includes a sensor to detect state quantities, a storage unit for vibration correction amounts, an operation control unit to generate command values, a correction amount calculation unit to update these values, and a determination unit to validate internal parameters and sensor posture, ensuring accurate vibration suppression by calculating a correlation value based on detected data and command values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If learning control is performed each time the robot is operated to update correction values, then vibration correction capability is improved, but system reliability deteriorates due to unvalidated sensor parameters and mounting conditions
Solution Approach 1:
The system performs preliminary validation of sensor parameters, mounting position, and posture before executing learning control. The determination unit validates these parameters in advance to ensure measurement accuracy, preventing unreliable correction values from being generated due to invalid sensor configurations.
Solution Approach 2:
The system continuously monitors and validates sensor parameters during operation. The determination unit provides feedback on the validity of sensor measurements, and this feedback is used to control whether learning control should be performed, ensuring that only reliable measurement data is used for updating correction values.
2Reliability
If vibration correction amounts are continuously updated during operation, then vibration suppression effectiveness is improved, but system complexity increases due to additional validation requirements
Solution Approach 1:
The validation function and learning control function are merged into a unified control flow. The determination unit that validates sensor parameters is integrated with the learning control execution unit, allowing both functions to operate within the same control cycle without requiring separate complex validation systems.
Solution Approach 2:
The system performs self-validation of sensor parameters using its own internal determination unit. Rather than requiring external validation systems, the control apparatus autonomously checks the validity of sensor measurements and controls the learning control execution accordingly, reducing overall system complexity.
Data Source
AI summary
The control system includes: a driven body driven by a motor; a control apparatus configured to operate the body; and a sensor detecting a state quantity of the body, wherein the control apparatus includes: a storage storing a correction amount for correcting vibration occurring at the mounting position; a control unit configured to generate a command value for the motor in each control cycle based on an operation program, and perform operation control of the body based on the correction amount and the command value; a calculation unit configured to calculate the correction amount; an update unit configured to update the correction amount each time the operation control is performed; and a determination unit configured to determine validity of at least one of an internal parameter and the like of the sensor based on the command value and the state quantity each time the operation control is performed.