Robot Control Interface for Target Vibration Frequency Reduction
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Solution Overview
Problem
Existing robot technologies face challenges in accurately identifying and reducing vibration frequencies, especially in high-degree-of-freedom robots, due to complex waveforms and directional complexities, making it difficult for users to specify and measure target vibration frequencies effectively.
Innovation Solution
A device with a reception unit and display control unit that receives instructions and displays information on target vibration frequencies based on vibration data, allowing users to easily identify and measure target frequencies, compare vibrations before and after frequency reduction, and understand frequencies with maximum power, facilitating effective vibration reduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If residual vibration is measured by adding an impact to the end effector with a hammer, then vibration frequency data can be obtained, but the waveform includes various frequency components making it difficult to specify the target vibration frequency
Solution Approach 1:
The patent introduces a vibration measurement device as an intermediary tool between the impact input and the frequency analysis. This device includes sensors and signal processing capabilities that automatically identify the target vibration frequency from the complex waveform, mediating between the raw measurement data and the user's need for precise frequency specification without requiring manual waveform analysis
Solution Approach 2:
The patent replaces the manual mechanical method of frequency identification (visually analyzing waveforms from hammer impact) with an automated electronic system. The vibration measurement device uses sensors, analog-to-digital converters, and microprocessors to automatically detect and display the target vibration frequency, substituting mechanical/manual frequency identification with electronic automation
2Loss of information
If three sensors are installed to measure vibration in three perpendicular directions, then comprehensive vibration data can be obtained, but processing the measured values comprehensively becomes complex
Solution Approach 1:
The patent merges the data from three separate vibration sensors into a single integrated measurement value. The vibration measurement device combines the measured values from sensors in three perpendicular directions through signal processing, presenting unified vibration information to the user while internally handling the complexity of multi-directional data integration
Solution Approach 2:
The vibration measurement device is designed with multi-functionality to handle various sensor configurations and processing methods. It can process measurements from three perpendicular directions, calculate resultant vibrations, and provide comprehensive vibration information through a single interface, making the system universally applicable to different measurement scenarios
3Ease of operation
If vibration measurement device is installed to automatically measure residual vibration, then target vibration frequency can be easily specified, but device complexity increases
Solution Approach 1:
The vibration measurement device is designed to be self-sufficient in performing frequency analysis. It automatically measures residual vibration, processes the signals through analog-to-digital conversion, identifies the target vibration frequency, and displays the results without requiring external analysis tools or manual waveform interpretation, making the system self-service capable
4Object-affected harmful factors
If band-elimination filter is applied to torque control signal, then vibration at target frequency is reduced, but other frequency components remain unaddressed
Solution Approach 1:
The system dynamically adapts the frequency reduction process by first measuring the actual residual vibration to identify the target frequency, then applying the band-elimination filter specifically at that identified frequency. This dynamic approach ensures the filter addresses the actual problematic frequency rather than relying on predetermined values, improving both precision and adaptability
Data Source
AI summary
A robot control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: receive a first instruction from an operation device; display information regarding a target vibration frequency of a robot obtained based on vibration data indicating vibration of the robot in a certain time section on a display, when the processor receives the first instruction; set the target vibration frequency; generate a second control signal obtained by reducing the target vibration frequency from a first control signal based on the set target vibration frequency; and generate a driving signal to drive the robot based on the second control signal and output the driving signal.