Robot Link Motion Monitoring with Encoder and Acceleration Sensor
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional human-coexistence type robots rely heavily on encoder output for operation control, which limits their safety and reliability, especially in emergency situations.
Innovation Solution
The integration of an acceleration sensor alongside the encoder in the robot's motor system allows for dual-state monitoring, enabling more accurate detection of abnormalities and enhancing safety by providing feedback control through a controller that compares sensor data with expected values to determine normal or abnormal operation states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If operation control relies heavily on encoder output, then control precision is maintained, but safety and reliability deteriorate in emergency situations
Solution Approach 1:
The patent introduces an acceleration sensor as an intermediary detection device that independently monitors the actual motion state of the link. This mediator provides an additional verification channel beyond the encoder, enabling the system to detect abnormalities such as encoder failures or unexpected contact forces, thereby improving safety without compromising control precision
Solution Approach 2:
The patent implements a feedback mechanism where the acceleration sensor continuously monitors the link's motion and compares it with the commanded motion from the encoder. When discrepancies exceed a threshold (indicating potential emergencies), the system provides feedback to stop the robot operation, ensuring safety while maintaining precise control during normal operation
2Reliability
If dual sensors (encoder and acceleration sensor) are integrated for monitoring, then safety and reliability improve, but device complexity increases
Solution Approach 1:
The acceleration sensor serves multiple functions: it monitors link motion for safety detection, verifies encoder accuracy, detects unexpected contact forces, and provides backup control information. This multi-functionality justifies the added complexity by delivering comprehensive safety and reliability improvements across multiple operational aspects
Solution Approach 2:
The patent combines the data from the encoder and acceleration sensor within a unified control system that processes both signals together. By merging these detection channels into a single integrated safety control mechanism, the system manages the complexity of dual sensors through coordinated processing rather than separate independent systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach improves the reliability of the robot's operation control by effectively detecting and responding to abnormalities in the encoder and acceleration sensor data, thereby enhancing safety and reducing dependency on encoder output.
Implementation Method 1
a second sensor (acceleration sensor) that detects the rotation state of the link
Data Source
Figure 1
Figure 2A~2B
Figure 3~4
AI summary
Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.