Robot Controller Dynamic Mode Switching for Speed and Vibration
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Solution Overview
Problem
Existing robots require stopping and reconfiguring servo gain to switch between standard and fast operation modes, leading to poor work efficiency and inconsistent vibration suppression, which is influenced by tool shapes and loads.
Innovation Solution
A robot equipped with an angular velocity sensor and position sensor, along with a servo circuit that adjusts the correction factor for maximum acceleration, deceleration, and servo gain, allowing for three operation modes: high-speed, vibration-suppression, and a compatible mode, ensuring efficient high-speed performance and reduced vibration without tool-dependent issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates in fast mode with high speed, then productivity is improved, but vibration increases and manufacturing precision deteriorates
Solution Approach 1:
The patent implements dynamic switching between standard mode and fast mode operation parameters. The robot controller can selectively change servo gain, maximum acceleration, maximum deceleration, and correction factors based on the desired operation mode, allowing the system to adapt its characteristics dynamically rather than being fixed. This enables the robot to operate at high speeds when productivity is prioritized while maintaining vibration suppression capabilities when precision is required.
Solution Approach 2:
The patent changes multiple control parameters simultaneously to achieve mode switching: servo gain, maximum acceleration, maximum deceleration, and correction factors. By coordinating changes across these parameters rather than single-parameter adjustment, the system achieves smooth transitions between operation modes while maintaining optimal performance characteristics for each mode, resolving the contradiction between speed and vibration suppression.
2Productivity
If the servo gain is changed to switch between standard mode and fast mode, then operation speed is improved, but work efficiency deteriorates due to required stopping and reconfiguration
Solution Approach 1:
The patent prepares multiple sets of operation parameters (standard mode and fast mode) in advance within the robot controller. All necessary parameters including servo gain, maximum acceleration, maximum deceleration, and correction factors are pre-configured for each mode. When mode switching is required, the system simply activates the pre-prepared parameter set corresponding to the desired mode, eliminating the need for stopping and gradual reconfiguration, thus significantly reducing mode switching time.
3Productivity
If the robot is designed for high-speed operation, then productivity is improved, but vibration suppression capability deteriorates
Solution Approach 1:
The patent makes the robot's control characteristics dynamic by implementing mode switching capability. The system can transition between standard mode (with lower servo gain and acceleration limits for vibration suppression) and fast mode (with higher servo gain and acceleration limits for high-speed operation). This dynamic adaptability allows the same robot hardware to excel at both high-speed productivity and vibration suppression depending on the operational requirements.
Solution Approach 2:
The patent designs the robot control system to perform multiple functions: it can operate in standard mode for precision work requiring vibration suppression, and switch to fast mode for productivity-critical operations. By integrating both operation modes within a single control system with coordinated parameter changes, the robot achieves multi-functionality, serving both high-speed productivity and vibration suppression needs without requiring separate specialized systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables the robot to operate efficiently in high-speed mode while minimizing vibrations, even when switching between modes, and ensures compatibility between speed and vibration suppression, improving work efficiency and reducing operational time.
Implementation Method 1
an angular velocity sensor provided in the arm
Implementation Method 2
a position sensor that detects a rotation angle of the drive source
Implementation Method 3
a servo circuit that performs vibration suppression control based on a detection result of the angular velocity sensor
Data Source
AI summary
A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.