Robot Controller Suppressing Tool Tip Shaking via Travel Axis Adjustment
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Solution Overview
Problem
Industrial robots equipped with a travel axis often experience tool tip shaking due to interference torque, which can deform workpieces, especially when high rigidity materials are costly and limit precision in modeling joints as springs.
Innovation Solution
A robot controller with a movement calculating part and a correcting part that adjusts command values for speed and acceleration of the travel axis based on thresholds to minimize tool tip movement, reducing shaking and improving precision without requiring expensive high rigidity materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If high rigidity materials are used for component parts about the J1 axis, then shaking of the tool tip due to interference torque is suppressed, but manufacturing costs increase
Solution Approach 1:
The patent changes the control parameters (speed and acceleration command values) of the travel axis based on the calculated tool tip movement amount. By dynamically adjusting these parameters within a predetermined range, the system suppresses tool tip shaking without requiring high rigidity materials, thus resolving the contradiction between stability and manufacturing cost.
2Manufacturing precision
If modeling deems joints as springs, then shaking compensation is achieved, but precision is limited and cannot approach actual robot behavior sufficiently
Solution Approach 1:
The patent implements a feedback mechanism where the movement calculating part calculates the tool tip movement amount based on travel axis operation, and the correcting part uses this calculated value to adjust the speed and acceleration command values. This closed-loop feedback approach achieves high precision without relying on inaccurate spring modeling assumptions.
3Productivity
If the speed of movement or acceleration of the travel axis is increased, then productivity improves, but tool tip shaking increases due to interference torque
Solution Approach 1:
The patent dynamically adjusts the speed and acceleration command values of the travel axis based on the calculated tool tip movement amount. When tool tip movement is small (indicating potential shaking), the command values are reduced within a predetermined range. This dynamic adjustment allows the system to maintain high productivity when conditions permit while suppressing shaking when necessary.
Data Source
AI summary
A robot controller able to suppress shaking of a tool tip of a robot due to operation of a travel axis. The robot controller includes a movement calculating part calculating an amount of movement of the travel axis and an amount of movement of the tool tip each time the travel axis operates in accordance with a command and a correcting part correcting a command value so that at least one command value of a speed and acceleration to the travel axis becomes smaller when the amount of movement of the travel axis is larger than a predetermined first threshold value and the amount of movement of the tool tip is smaller than a predetermined second threshold value.