Robot Controller Vibration Analysis for Positional Stability
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Solution Overview
Problem
Simple installation-type robots face challenges in maintaining stable positional displacement due to varying floor rigidity and vibrations, leading to repeated positional adjustments without changing the control state of movement.
Innovation Solution
A robot controller that performs trial operations to measure vibration, adjusts operating speed based on stored vibration information, and allows users to select operating modes for optimal performance according to installation conditions, using an angular velocity sensor for accurate vibration measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the robot is simply fixed to the floor surface using adjuster feet, then installation is easy and quick, but the work position of the robot may be displaced due to inertial force from robot operation
Solution Approach 1:
The robot controller includes a vibration measuring unit that detects vibration during robot operation, and based on the vibration magnitude, automatically adjusts the operating speed to reduce inertial forces. This feedback mechanism prevents positional displacement while maintaining simple installation structure.
Solution Approach 2:
The robot controller dynamically adjusts the operating speed according to the measured vibration magnitude. By changing the operating parameters in real-time based on installation conditions, the system maintains stability without requiring complex mechanical fixing structures.
2Productivity
If the robot operates at high speed, then productivity is improved, but positional displacement occurs more easily due to increased inertial force
Solution Approach 1:
The robot controller dynamically adjusts the operating speed according to the measured vibration magnitude. When vibration is low (stable installation), higher speeds are permitted for improved productivity. When vibration is high (unstable installation), speeds are reduced to prevent positional displacement.
Solution Approach 2:
The operating speed parameter is automatically adjusted based on the vibration magnitude measurement. The system changes operational parameters in real-time to optimize both productivity and positional stability according to the actual installation conditions.
3Manufacturing precision
If the robot repeatedly returns to initial work position, then positional displacement is corrected, but the control state of movement does not change leading to repeated displacement
Solution Approach 1:
The system performs preliminary vibration measurement before full operation begins. By detecting the installation stability in advance and setting appropriate operating speeds beforehand, the system prevents positional displacement from occurring in the first place, eliminating the need for repeated correction cycles.
4Manufacturing precision
If vibration measurement is performed during trial operation, then appropriate operating speed can be determined, but additional time is required before normal operation
Solution Approach 1:
The trial operation performs vibration measurement with a simplified, partial robot movement sequence rather than a complete operational cycle. This partial action is sufficient to detect vibration characteristics and determine appropriate operating speed, reducing the time penalty while maintaining measurement accuracy.
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
Enables the robot to operate at appropriate speeds for its installation situation, reducing positional displacement and allowing users to prioritize speed or precision based on operational needs, with improved accuracy in reflecting installation conditions.
Implementation Method 1
an input unit to which the magnitude of vibration occurring in the robot is input from a vibration measuring unit disposed in the robot
Data Source
AI summary
A robot includes an angular velocity sensor that detects the vibration of a robot. A control device allows the robot to perform a trial operation and acquires the measurement result measured by the angular velocity sensor during the trial operation as vibration information and analyzes the acquired vibration information based on maker evaluating information that is stored in a database. In the maker evaluating information, vibration information and the operating speed appropriate to the installation situation of the robot at which the vibration information is measured are associated with each other. Then, the robot is operated at an operating speed selected based on the analysis result of the vibration information.