Robot Drive Inertia Configuration With Graphical Plausibility Checks
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Solution Overview
Problem
Current robot control systems lack a straightforward and reliable method for configuring and verifying the inertial characteristics of robot members, which is essential for precise trajectory control and energy efficiency.
Innovation Solution
A method that uses a graphical user interface to input and display the mass and inertia tensors of robot members, allowing operators to select and visualize partial members with uniform mass distribution, facilitating plausibility checks and transmitting these values to the control system for drive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If inertial characteristics are configured using traditional control systems, then the control process becomes complex and difficult to verify, but the patent introduces a graphical user interface with visual display of inertia tensors to simplify configuration and enable plausibility checks
Solution Approach 1:
The patent creates a graphical copy/representation of the physical robot members and their inertial properties. The user interface displays visual representations of members with their mass and inertia tensor characteristics, allowing operators to configure and verify parameters through intuitive graphical interaction rather than complex numerical input, thus simplifying the configuration process while maintaining accuracy
Solution Approach 2:
The graphical user interface acts as an intermediary between the operator and the complex control system. It provides a visual layer that mediates the interaction, allowing operators to configure inertial characteristics through graphical selection and visualization rather than directly manipulating complex control parameters, thereby easing operation without increasing actual system complexity
2Measurement precision
If inertial characteristics are not properly verified, then trajectory control precision deteriorates, but the patent implements plausibility check functions to ensure accurate mass and inertia tensor values
Solution Approach 1:
The system implements feedback mechanisms where the graphical display shows the configured mass and inertia tensor values back to the operator for verification. The plausibility check function provides immediate feedback on whether the configured values are reasonable, allowing operators to verify accuracy without extensive manual calculation, thus maintaining precision while managing configuration time
Solution Approach 2:
The system performs preliminary plausibility checks on inertial characteristics before the configuration is finalized and used for control. By checking the合理性 of mass and inertia tensor values in advance through the graphical interface, the system prevents erroneous configurations from affecting trajectory control, ensuring measurement precision without requiring time-consuming post-configuration verification
Data Source
AI summary
In a method for operating a computer having a user interface, e.g., a graphical and/or interactive user interface, a robot, which has members, e.g., arms, rotatable relative to each other and a tool and/or a load, are displayed graphically. One of the members is selectable from an indicated set of members, and a value of an inertial characteristic, e.g., a value of the mass, of this member is able to be inputted. The value of the mass of the member, the position of the center of mass of the member, and both the magnitude and the direction of each of the principal axes of inertia of the selected member are displayed graphically.