Robot Motion Control Using Model-Based State Estimation
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Solution Overview
Problem
Existing robot control systems struggle to adapt to changes in the robot's state, leading to inappropriate motions, especially when faced with unexpected conditions such as varying workpiece weights or dynamic environments.
Innovation Solution
A robot control apparatus and system that includes a control unit, information obtaining unit, motion estimation unit, and state estimation unit, which plan and adjust the robot's motion based on actual and estimated physical information, using a model plant to simulate ideal conditions and correct deviations through feedback loops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robot control systems use fixed motion programs, then manufacturing precision can be maintained, but adaptability to changing conditions deteriorates
Solution Approach 1:
The system continuously obtains actual physical information from sensors, compares it with estimated physical information from the model plant, and uses the state estimation results to adjust control information in real-time, enabling adaptive correction of motion deviations
Solution Approach 2:
The control system transitions from static fixed programs to dynamic adaptive control by continuously updating control information based on real-time state estimation, allowing the robot to adjust its motion characteristics according to changing conditions
2Adaptability or versatility
If robot control systems increase complexity to handle dynamic conditions, then adaptability improves, but device complexity increases
Solution Approach 1:
The model plant serves as an intermediary that simulates ideal robot behavior, allowing the system to estimate expected physical information and compare it with actual measurements, thereby enabling complex adaptive control through a structured intermediate representation
Solution Approach 2:
The control system is divided into distinct functional modules: information obtaining unit, motion estimation unit, state estimation unit, and control unit, each handling specific aspects of the control process to manage overall system complexity
Data Source
AI summary
A robot control apparatus includes a control unit that generates, as control information, information regarding an amount of movement for controlling a motion of a robot and that outputs the control information, an information obtaining unit that obtains, as actual physical information, physical information indicating a result of an actual motion of the robot based on the control information, a motion estimation unit that outputs information output from a model plant, which is obtained by modeling an ideal state of the robot, by inputting the control information to the model plant as estimated physical information, which is obtained when the robot is assumed to move ideally on a basis of the control information, and a state estimation unit that estimates a state of the robot on a basis of the actual physical information and the estimated physical information. The control unit generates the control information further on a basis of a result of the estimation of the state of the robot.