Wheeled Robot Controller Compensation for Tuning-Free Motion Control
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Solution Overview
Problem
Conventional wheeled mobile robot controller compensation systems require frequent tuning of parameters to account for environmental and systemic effects, making them cumbersome and less effective in dynamic conditions.
Innovation Solution
A wheeled mobile robot controller compensation system that includes a compensator signal receiver, determiner, and emitter to calculate and apply a compensation signal based on input and output signals, allowing for real-time refinement of controller outputs without the need for parameter tuning, and identifies the type of wheeled mobile robot to adapt accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional wheeled mobile robot controller compensation systems are used, then motion control can be achieved, but frequent parameter tuning is required to account for environmental and systemic effects
Solution Approach 1:
The compensator automatically determines compensation signals based on robot output signals and identified robot type, enabling the system to self-adjust without external parameter tuning. The compensator signal determiner calculates compensation signals in real-time based on actual robot performance, eliminating the need for manual parameter adjustment while maintaining motion control accuracy.
Solution Approach 2:
The system uses robot output signals as feedback to continuously determine appropriate compensation signals. The compensator receives output signals from the robot, processes them through the compensator signal determiner, and generates refined control signals, creating a closed-loop feedback mechanism that adapts to environmental and systemic effects without requiring parameter tuning.
2Measurement precision
If parameter tuning is performed frequently to adapt to changing conditions, then control accuracy is maintained, but operational efficiency decreases
Solution Approach 1:
The compensator operates continuously without interruption, receiving robot output signals and generating compensation signals in real-time. This continuous operation maintains control accuracy throughout changing conditions without requiring periodic parameter tuning interruptions, thereby preserving operational efficiency while sustaining measurement precision.
Solution Approach 2:
The compensation signals are dynamically adjusted based on real-time robot output signals and identified robot type. The compensator signal determiner continuously adapts the compensation amount according to actual robot performance and environmental conditions, maintaining control accuracy without manual intervention while allowing the system to operate efficiently under varying conditions.
3Ease of operation
If a generic controller is used without specific tuning, then ease of operation improves, but adaptability to different robot types and conditions deteriorates
Solution Approach 1:
The compensator is designed to work with multiple types of wheeled mobile robots through automatic robot type identification. The compensator signal determiner identifies the robot type from output signals and automatically determines appropriate compensation signals for that specific robot type, enabling a single generic controller to universally adapt to different robot types and conditions without requiring specific tuning for each robot.
Data Source
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AI summary
A wheeled mobile robot controller compensation system (100) comprising: a compensator signal receiver (122) configured to receive a wheeled mobile robot input signal (156) ; a compensator signal determiner (124) configured to determine a controller output compensation signal (164), by taking into account the wheeled mobile robot input signal (156), in order to compensate for environmental and systemic effects affecting motion control of a wheeled mobile robot (140) ; and a compensator signal emitter (126) configured to emit the controller output compensation signal (164) in order to refine a wheeled mobile robot controller output signal (154).