Robot Joint Control Apparatus Dynamic Sampling Period
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Solution Overview
Problem
Existing control systems for robots face challenges in achieving accurate rotation angle measurements due to reduced accuracy from environmental factors and aging, especially when using rotation angle sensors like encoders, potentiometers, or magnetic sensors, which are costly to upgrade across multiple joint sections.
Innovation Solution
A control apparatus and method that generate second sampling data with a longer period than first sampling data, allowing for improved accuracy of rotation angle measurements without necessitating higher performance sensors. This is achieved by processing first sampling data with a shorter period to produce second sampling data with increased resolution and smoothed values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the performance of the rotation angle sensor is increased to improve accuracy, then the measurement precision improves, but the cost increases significantly
Solution Approach 1:
The patent changes the sampling period parameter from a short fixed period to a variable period that is extended when accuracy degradation is detected. By dynamically adjusting the sampling period based on detected accuracy levels, the system improves measurement accuracy without requiring expensive high-performance sensors across all joint sections.
Solution Approach 2:
The system dynamically adjusts the sampling period based on real-time accuracy detection. When accuracy degradation is detected, the sampling period is extended to compensate for the reduced sensor performance. This dynamic adaptation allows the use of lower-cost sensors while maintaining acceptable measurement accuracy through flexible control strategies.
2Measurement precision
If the sampling period is extended to improve accuracy, then the measurement precision improves, but the productivity decreases
Solution Approach 1:
The sampling period is dynamically adjusted based on detected accuracy levels. During normal operation with acceptable accuracy, a short sampling period maintains high productivity. When accuracy degradation is detected, the sampling period is extended to compensate for sensor performance issues, thereby maintaining measurement precision without permanently sacrificing productivity.
Solution Approach 2:
The system implements periodic sampling with variable periods. Instead of using a fixed long sampling period that would continuously reduce productivity, the system uses short periodic sampling during normal conditions and extends the period only when necessary to compensate for accuracy degradation, thus balancing productivity and precision needs.
Data Source
AI summary
A control apparatus including a processor is provided that executes an operation in accordance with a program, in which the operation includes generating, on the basis of first sampling data with a rotation angle of a joint section recorded with a first period, second sampling data with the rotation angle recorded with a second period longer than the first period.