Robot Joint Motion Modeling for Variable Arm Length Control
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Solution Overview
Problem
Existing control devices for robots with extendable arms face challenges in generating a motion model when the length of the robot arm is changed by attaching or detaching joint mechanisms, requiring a new motion model for effective control.
Innovation Solution
A motion model calculation device that includes a command module to output motion commands, an acquisition module to gather driving states, and a calculation module to create a motion model representing the relationship between input and output values for the joint mechanisms, allowing for easy adaptation to changes in arm length.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If joint mechanisms and arms are joined to increase the length of a robot arm, then the robot arm can achieve greater length and versatility, but a new motion model must be generated which increases device complexity and time consumption
Solution Approach 1:
The motion model generation process is segmented into modular steps: acquiring teaching data for each joint mechanism separately, calculating individual joint motion models, and combining them systematically. This segmentation allows the complex task of generating a motion model for extended robot arms to be broken down into manageable components that can be processed independently and then integrated.
Solution Approach 2:
Teaching data is acquired in advance for each joint mechanism before the actual motion model generation is needed. This preliminary acquisition of data for each joint mechanism allows the system to quickly generate motion models when robot arm configuration changes, without requiring time-consuming measurements or recalibrations at the moment of extension.
2Adaptability or versatility
If joint mechanisms and arms are joined to extend robot arm length, then the robot can perform more tasks, but the time required to generate a new motion model increases
Solution Approach 1:
Teaching data for each joint mechanism is acquired in advance and stored for later use. This preliminary data collection eliminates the need for time-consuming on-site measurements or recalibrations when the robot arm configuration changes, allowing rapid generation of new motion models by simply combining pre-acquired data.
Solution Approach 2:
The system uses teaching data that captures the characteristics of each joint mechanism as a reusable template or model. When joint mechanisms are added or reconfigured, the system copies and combines these pre-acquired teaching data sets to generate the new motion model, rather than creating everything from scratch.
3Manufacturing precision
If a motion model is generated for each configuration change, then control precision is maintained, but the complexity of device operation increases
Solution Approach 1:
The motion model is segmented into individual joint mechanism components, each with its own teaching data and parameters. This segmentation allows the system to maintain high control precision by accurately modeling each joint separately while simplifying management through modular organization of the overall motion model.
Solution Approach 2:
The teaching data acquisition process and motion model calculation method are designed to be universal and applicable to any joint mechanism configuration. The same procedures and algorithms can be used regardless of how many joint mechanisms are present or how they are arranged, making the system easy to operate across different configurations.
Data Source
AI summary
What is disclosed is a motion model calculation device which easily creates a motion model for a drive device. The motion model calculation device is connected to a robot arm including a plurality of arms and a joint mechanism which pivotally joins the plurality of arms to a connection part, outputs a predetermined motion command to the joint mechanism, acquires a driving state of the joint mechanism caused by a motion corresponding to the motion command, and calculates, on the basis of the motion command and the driving state, a motion model representing the relationship between an input value representing an input to the joint mechanism and an output value of the joint mechanism with respect to the input.