Robot Motion Control Using Inertial Sensor Fusion
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Solution Overview
Problem
Traditional robotic apparatuses, particularly those with parallel mechanisms, face challenges in measuring displacements in directions other than pitch, leading to increased complexity, reduced reliability, and higher wiring complexity due to the use of multiple encoder modules, which also fail to detect yawing angle synchronization.
Innovation Solution
Employing inertial sensors to detect inertial sensing data and perform data fusion, eliminating the need for multiple encoders, thereby simplifying the structure, reducing weight and cost, and enhancing reliability by improving multi-directional angle synchronization detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple encoder modules are used to measure displacements in multiple directions, then measurement precision is improved, but device complexity increases and reliability decreases
Solution Approach 1:
The patent combines multiple encoder modules into a single encoder module that can measure displacements in multiple directions (pitch, yaw, and other directions) simultaneously. This merging approach reduces the number of separate measurement devices while maintaining comprehensive measurement capability, thereby reducing structural complexity while preserving measurement precision.
Solution Approach 2:
The patent implements a universal encoder module capable of measuring displacements in multiple directions and orientations. This single multi-functional device replaces what would traditionally require multiple specialized encoder modules, simplifying the overall system structure while maintaining the ability to measure all necessary displacement components.
2Measurement precision
If multiple encoder modules are installed in the parallel mechanism, then measurement capability is improved, but reliability of the robotic apparatus decreases
Solution Approach 1:
The patent merges multiple encoder modules into a single integrated encoder module, reducing the number of electronic components and circuit connections. This consolidation reduces potential failure points and improves the overall reliability of the robotic apparatus while maintaining the capability to measure pitch angle synchronization and other displacement measurements.
3Measurement precision
If a plurality of encoder modules are used, then measurement precision is improved, but wiring complexity increases
Solution Approach 1:
The patent combines multiple encoder modules with separate wiring requirements into a single encoder module with a unified wiring interface. This merging significantly reduces the complexity of wiring connections and circuit modules while maintaining the capability to measure displacements in multiple directions including pitch, yaw, and other directions.
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
The use of inertial sensors for data fusion improves detection precision and reliability, simplifies the robotic apparatus structure, reduces weight and volume, and lowers costs while ensuring comprehensive angle synchronization monitoring.
Implementation Method 1
at least one inertial sensor disposed on one or both of the executing device and the driving device, wherein the at least one inertial sensor is used to detect inertial sensing data
Implementation Method 2
perform data fusion and analysis
Data Source
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AI summary
The present disclosure provides robot apparatus and a control method thereof. The robotic apparatus includes an executing device and a driving device. The method includes: acquiring inertial sensing data from at least one inertial sensor disposed on one or both of the executing device and the driving device; performing data fusion on at least the inertial sensing data to obtain fused data of the robotic apparatus; and determining an operation status of the robotic apparatus based on the fused data, and controlling the robotic apparatus in response to the operation status. In the present disclosure, inertial sensing data is detected by inertial sensor and data fusion and analysis are performed. In this way, precision of the detection performed on the robotic apparatus can be improved, thereby improving the reliability of the robotic apparatus. Moreover, a plurality of sets of encoders can be eliminated, thereby greatly simplifying the structure of the robotic apparatus, reducing weight and volume of the robotic apparatus, and reducing costs.