Robot Limb Trajectory Correction for Musical Instrument Performance
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Solution Overview
Problem
Existing robots face challenges in maintaining consistent performance when changes occur, such as venue shifts or maintenance, due to alterations in the relative positions of their limbs and musical instruments, affecting the performance effect.
Innovation Solution
A robot control method that calculates the motion trajectory and joint control quantities for limb movements based on the beaten position and joint configuration parameters, allowing for real-time adjustments and corrections using user input to maintain optimal performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses fixed limb positioning for musical instrument performance, then the performance effect can be achieved initially, but the system becomes vulnerable to position changes due to venue shifts, movement, or maintenance
Solution Approach 1:
The patent implements dynamic position correction by calculating correction quantities based on detected position deviations. The control system continuously adjusts limb trajectory and positioning parameters in real-time, transforming the fixed positioning system into a dynamic one that automatically adapts to changes in robot-instrument relative positions caused by venue shifts, movement, or maintenance activities.
Solution Approach 2:
The patent employs feedback mechanisms where position detection devices monitor the actual positions of the robot limbs and musical instrument, comparing them against expected positions. The control device uses this feedback information to calculate correction quantities and adjust the limb trajectories, ensuring consistent performance despite position changes.
2Adaptability or versatility
If additional sensors are added to detect position changes and enable real-time correction, then adaptability to position changes improves, but device complexity and correction costs increase
Solution Approach 1:
The patent implements a self-service correction mechanism where the robot system uses its existing position detection capabilities (already present for motion control) to monitor and correct its own positioning relative to the musical instrument. The control device calculates correction quantities based on detected deviations and automatically adjusts limb trajectories without requiring external intervention or additional specialized sensors.
Solution Approach 2:
The patent makes the existing position detection devices serve dual purposes: both for controlling the robot's motion during performance and for detecting position deviations that require correction. This multi-functional use of existing sensors avoids the need for additional dedicated sensors for position monitoring and correction.
3Ease of repair
If the robot performs maintenance or debugging activities, then system reliability can be maintained, but the relative position between robot limbs and instrument changes, affecting subsequent performance
Solution Approach 1:
The patent prepares for post-maintenance performance issues by implementing a correction mechanism that activates automatically after maintenance activities. The system detects position deviations resulting from maintenance and pre-calculates correction trajectories, ensuring that performance consistency is restored without requiring manual reconfiguration or recalibration after maintenance or debugging activities.
Data Source
AI summary
A robot control method includes obtaining relevant parameters at a moment when the robot beats the musical instrument, calculating a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining 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 until the performance effect of the robot meets the requirements.