Automated Robot Model Tuning via Foundation Vibration Analysis
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Solution Overview
Problem
Current methods for tuning the dynamical model of an industrial robot on a foundation are time-consuming and complex, often requiring manual parameter setting after the robot is mounted, which delays its operational readiness and efficiency.
Innovation Solution
A method and device for automatically tuning the dynamical and elastic model parameters of an industrial robot by using a parameter determining device connected to the robot's control system, which includes a model memory and a parameter adjusting unit to sense and adjust parameters based on sensor measurements, allowing for quick and efficient model tuning post-mounting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual parameter setting is used after robot mounting, then the model can be tuned to match foundation properties, but the process becomes time-consuming and complex
Solution Approach 1:
The robot system automatically determines its own foundation parameters through sensor measurements and computational processing, eliminating the need for manual parameter setting. The control system executes automated routines that measure vibration characteristics and calculate foundation properties, allowing the system to self-tune without external intervention.
Solution Approach 2:
The patent replaces manual mechanical adjustment processes with automated computational methods. Instead of manually measuring and setting parameters, the system uses sensors, processors, and algorithms to automatically determine foundation properties and adjust model parameters, substituting human-operated mechanical processes with automated electromechanical systems.
2Productivity
If comprehensive foundation modeling is implemented, then robot operational efficiency is maximized, but the complexity of parameter determination increases
Solution Approach 1:
The patent divides the complex foundation modeling task into distinct segments: vibration excitation measurement, resonance frequency identification, foundation parameter calculation, and model parameter adjustment. This segmentation allows each sub-task to be handled by specific automated routines, reducing overall complexity while maintaining comprehensive modeling capability.
Solution Approach 2:
The control system acts as an intermediary between the robot and the foundation, automatically mediating the parameter determination process. It uses sensor data to compute foundation properties and adjusts model parameters accordingly, serving as an automated intermediary that simplifies the interaction between the robot system and foundation characteristics.
3Ease of operation
If automated parameter determination is implemented, then the tuning process is simplified and accelerated, but additional computational resources are required
Solution Approach 1:
The control system is designed with multi-functionality, serving both as the robot's primary controller and as the automated parameter determination system. By integrating foundation parameter measurement and model tuning capabilities into the existing control system, the patent avoids adding separate dedicated hardware while achieving automated operation.
Solution Approach 2:
The system performs self-characterization by automatically measuring its own vibration responses and computing its own foundation parameters. This self-service approach eliminates the need for external measurement equipment or manual intervention, simplifying operation while utilizing the robot's existing sensors and control capabilities.
Data Source
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AI summary
The invention concerns a method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot (10) on a foundation (26). The parameter determining device comprises a model memory with a first dynamical model of the robot, the first dynamical model comprising first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation (26) to which the robot is to be attached, the second dynamical model comprising second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit (36) that obtains information about dynamical properties of the foundation by ordering the actuator (20) to move the robot (10) and by receiving, from the detector (22), measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.