Robot Learning Control for Vibration Suppression
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Solution Overview
Problem
The existing learning control techniques used in machine tools are not directly applicable to industrial robots due to differences in movement patterns and speeds during actual operations, leading to vibrations and reduced positional precision.
Innovation Solution
A robot control device that includes a learning control unit, position storage, speed storage, positional error calculation, speed error calculation, and a learning correction amount application-determination unit to assess and apply learning corrections based on actual positional and speed errors, adjusting the application of learning corrections to maintain precision and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If learning control is applied to industrial robots with varying operation patterns, then positional precision can be improved, but vibrations occur and stability deteriorates
Solution Approach 1:
The patent implements dynamic switching between two control modes: learning control mode for when the operation pattern matches the teaching pattern, and ordinary control mode for when it differs. This dynamic adaptation allows the system to maintain stability while utilizing learning control benefits when applicable, resolving the contradiction between precision improvement and stability maintenance
Solution Approach 2:
The patent introduces a pattern recognition feedback mechanism that continuously compares the current operation pattern with the teaching pattern. Based on this feedback, the system dynamically determines whether to apply learning control or ordinary control, enabling adaptive precision enhancement without compromising overall system stability
2Manufacturing precision
If learning control is continuously applied, then positional precision is improved, but adaptability to varying operation patterns deteriorates
Solution Approach 1:
The control system dynamically adjusts its behavior based on real-time pattern recognition results. When the operation pattern matches the teaching pattern, learning control is applied for high precision. When patterns differ, the system automatically switches to ordinary control, maintaining adaptability to varying operation patterns while preserving precision benefits when applicable
3Manufacturing precision
If learning control is applied, then positional precision is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into distinct functional modules: pattern recognition unit, pattern storage, learning control unit, and ordinary control unit. This modular segmentation allows the complex learning control functionality to be integrated without overwhelming the overall system architecture, managing complexity through structured organization
Solution Approach 2:
The pattern recognition unit serves as an intermediary that bridges the input operation patterns and the control decision-making process. This intermediary component simplifies the overall system architecture by pre-processing and categorizing operation patterns before they reach the control units, reducing the complexity burden on the main control system
Data Source
AI summary
A robot control device includes a learning control unit for calculating a learning correction amount, a position storage unit for storing a position of a leading end of a robot mechanism part during the learning control, and a speed storage unit for storing a speed of the leading end of the robot mechanism part during the learning control. The robot control device determines, while the robot mechanism part is operated by a position command after the learning control, whether or not the position and the speed of the leading end are in an abnormal state based on errors with respect to the position and the speed of the leading end stored during the learning control. The robot control device switches a determination as to whether the learning correction amount is applied in accordance with this determination result.