Robot Settling Time Synchronization via Inertial Damping
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Solution Overview
Problem
Existing robot systems with base and arm configurations experience prolonged settling times due to uncoordinated stop times between the robot and its carrying apparatus, leading to increased overall settling time.
Innovation Solution
The robot system synchronizes the settling times of the robot and the carrying apparatus by overlapping their settling periods, with the robot's settling start time potentially later than or aligned with the carrying apparatus', and using inertial sensors for damping control to suppress vibrations and reduce settling time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot and carrying apparatus operate independently with separate settling periods, then each component can settle individually, but the entire settling time is prolonged
Solution Approach 1:
The patent merges the settling operations of the robot and carrying apparatus by making them occur simultaneously through overlapping time periods. The control device coordinates the robot control device and carrying apparatus control device so that both settling processes happen in parallel rather than sequentially, thereby reducing the total settling time while maintaining the reliability of each component's settling stability.
2Loss of time
If the robot performs damping control to suppress vibrations, then the settling time is shortened, but the control complexity increases
Solution Approach 1:
The patent implements damping control using feedback from inertial sensors that detect vibrations of the robot. The control device receives vibration information from the inertial sensor and adjusts the robot's motion accordingly to suppress vibrations during settling. This feedback mechanism shortens settling time by actively damping oscillations, though it does increase control system complexity through the addition of sensors and control algorithms.
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
This synchronization and damping control significantly shorten the overall settling time of both the robot and the carrying apparatus, enhancing operational efficiency.
Implementation Method 1
an inertial sensor is provided in the robot, and damping control of the robot is performed based on a detection result of the inertial sensor
Data Source
AI summary
A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.