Robot Joint Control Circuit With Fused Position Feedback

Solution Overview

Problem

Current control circuits for joint modules in robots face challenges in accurately controlling the motion due to deviations between the actual and theoretical output revolute angles, leading to reduced accuracy and stability.

Innovation Solution

A control circuit that includes a filter and fuser device to perform filtering and fusing processes on position signals from sensors, generating a third position signal that accurately represents the actual output revolute angle of the reducer, allowing for precise control of the joint module.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If position signals are directly used from sensors without filtering and fusing, then the control system is simple, but the accuracy of motion control deteriorates due to deviations between actual and theoretical output revolute angles

Engineering Contradiction:

Improveaccuracy of position signalVSAvoidcomplexity of control circuit

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The control circuit is segmented into multiple functional modules: a filter and fuser device for signal processing, a first controller for generating speed signals, and a second controller for coordinating motor and joint operations. Each module handles specific tasks, allowing the system to achieve high measurement precision through dedicated signal processing while maintaining manageable overall complexity through modular architecture.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The filter and fuser device acts as an intermediary between the position sensors and the controllers. It processes raw position signals from sensors, filtering out noise and fusing multiple signals to produce accurate representations of actual output revolute angles, thereby improving measurement precision without requiring complex modifications to the entire control system.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If filtering and fusing processes are applied to position signals, then the accuracy and stability of motion control is improved, but the device complexity increases

Engineering Contradiction:

Improvestability of joint module motionVSAvoidcomplexity of control circuit

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control circuit is segmented into multiple functional modules: a filter and fuser device for signal processing, a first controller for generating speed signals, and a second controller for coordinating motor and joint operations. Each module handles specific tasks, allowing the system to achieve high measurement precision through dedicated signal processing while maintaining manageable overall complexity through modular architecture.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The filter and fuser device acts as an intermediary between the position sensors and the controllers. It processes raw position signals from sensors, filtering out noise and fusing multiple signals to produce accurate representations of actual output revolute angles, thereby improving measurement precision without requiring complex modifications to the entire control system.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Measurement precision

If multiple controllers and signal processing devices are used, then the measurement precision and control accuracy are improved, but the device complexity increases

Engineering Contradiction:

Improveaccuracy of position and speed signalsVSAvoidnumber of controllers and devices

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The control circuit is segmented into multiple functional modules: a filter and fuser device for signal processing, a first controller for generating speed signals, and a second controller for coordinating motor and joint operations. Each module handles specific tasks, allowing the system to achieve high measurement precision through dedicated signal processing while maintaining manageable overall complexity through modular architecture.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The filter and fuser device performs multiple functions: it filters noise from position signals, fuses multiple sensor signals to eliminate deviations, and generates accurate representations of actual output angles. This multi-functionality reduces the need for additional dedicated devices, balancing measurement precision with device complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS20250091215A1Control Circuit and Control Method for Joint Module and Robot

Publication Date: 2025.03.20 GUANGDONG MIDEA WHITE HOME APPLIANCE TECH INNOVATION CENT CO LTD

AI summary

A control circuit for a joint module includes a filter and fuser device, a first controller, and a second controller that are electrically connected in sequence. The filter and fuser device is electrically connected to the joint module and is configured to perform a filtering and fusing process on a first position signal and a second position signal to acquire a third position signal. The first controller is configured to generate a first speed signal based on the third position signal and a target position signal; and the second controller is configured to control the joint module based on the first speed signal, a second speed signal, and a current signal.