Robot Limb Trajectory Calibration for Musical Performance Accuracy
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Solution Overview
Problem
Existing robot systems face challenges in maintaining accurate performance when changes in their performance venues or during maintenance due to the lack of effective calibration methods, affecting the relative positions of their limbs and musical instruments.
Innovation Solution
A robot control method that calculates the beaten position and joint configuration parameters using forward kinematics, determines motion trajectories through polynomial interpolation, and adjusts joint control quantities based on user input to ensure precise limb movements, allowing for quick recalibration without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot and musical instrument are moved to a different venue or repositioned, then the robot can perform in new locations or configurations, but the relative positions of the limbs and instruments change, affecting performance accuracy
Solution Approach 1:
The system performs preliminary calibration by detecting the initial position of the musical instrument relative to the robot, storing this reference data, and using it as a baseline for future position corrections. This preliminary action enables the robot to adapt to new venues without requiring complete recalibration from scratch.
Solution Approach 2:
The system continuously monitors the relative position between robot limbs and musical instruments using sensors, compares actual positions with reference positions, and automatically generates correction parameters to maintain accurate performance despite environmental changes or repositioning.
2Measurement precision
If traditional calibration methods are used, then the robot can achieve accurate performance, but any movement or repositioning requires time-consuming recalibration and increases correction costs
Solution Approach 1:
The system performs preliminary calibration by detecting the initial position of the musical instrument relative to the robot, storing this reference data, and using it as a baseline for future position corrections. This preliminary action enables the robot to adapt to new venues without requiring complete recalibration from scratch.
Solution Approach 2:
Instead of performing full recalibration when position changes occur, the system only adjusts specific correction parameters based on detected position deviations. This selective parameter adjustment significantly reduces recalibration time and computational resources while maintaining performance accuracy.
3Measurement precision
If complex calibration systems with additional sensors are implemented, then position accuracy can be maintained, but device complexity and correction costs increase
Solution Approach 1:
The system uses existing robot sensors and instruments for multiple purposes: both for playing music and for calibration/position detection. The musical instrument itself serves as a reference object, eliminating the need for separate calibration sensors or markers.
Solution Approach 2:
The robot performs self-calibration by using its own sensors to detect the position of the musical instrument and automatically generating correction parameters. The system is self-sufficient and does not require external calibration equipment or additional sensors beyond what is already integrated into the robot.
Data Source
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AI summary
A robot control method includes: obtaining (S101) relevant parameters at a moment when the robot beats the musical instrument, calculating (S102) a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining (S103) a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user (S 104) until the performance effect of the robot meets the requirements.