Robot Motion Synchronization for Work Module Vibration Cancellation
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Solution Overview
Problem
Existing robot systems face accuracy degradation due to vibrations caused by the movement of work modules against the robot, which is often mitigated by adding additional mechanisms like anchor members, increasing the size and weight of the work apparatus.
Innovation Solution
A robot system that includes a controller configured to perform synchronization control between the work apparatus and the robot, making a motion to cancel the force of the work module against the robot, thereby eliminating or minimizing vibrations without the need for additional mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a movable anchor member is added to eliminate movement reaction force, then vibration is reduced, but the work apparatus becomes large in size and weight
Solution Approach 1:
The patent replaces the mechanical anchor member system with a control system that generates compensation motion commands. The controller calculates the movement reaction force based on work module acceleration and generates commands to drive the robot in the opposite direction, substituting mechanical vibration cancellation with control-based compensation.
Solution Approach 2:
The patent introduces a controller as an intermediary that mediates between the work apparatus and the robot. The controller receives movement reaction force information, processes it to generate compensation motion commands, and transmits these commands to the robot, enabling coordinated vibration cancellation without direct mechanical coupling.
2Manufacturing precision
If a movable anchor member is added to eliminate movement reaction force, then work accuracy is improved, but the work apparatus becomes complex
Solution Approach 1:
The patent merges the vibration cancellation function into the existing robot system by utilizing the robot's own drive mechanism. Instead of adding a separate anchor member system, the control unit integrates compensation control that uses the robot's existing actuators to generate counteracting motion, thereby eliminating the need for additional mechanical components.
Solution Approach 2:
The patent replaces the mechanical anchor member system with a control system that generates compensation motion commands. The controller calculates the movement reaction force based on work module acceleration and generates commands to drive the robot in the opposite direction, substituting mechanical vibration cancellation with control-based compensation.
3Productivity
If the work module moves at high speed, then productivity is improved, but vibration increases causing accuracy degradation
Solution Approach 1:
The patent performs preliminary calculation of the movement reaction force based on the work module's acceleration before the actual movement occurs. The control unit uses this pre-calculated force information to generate compensation motion commands in advance, allowing the robot to proactively counteract vibrations before they affect work accuracy, thus enabling high-speed operation without sacrificing precision.
Solution Approach 2:
The patent implements a feedback mechanism where the control unit continuously monitors work module acceleration, calculates the resulting movement reaction force, and adjusts the robot's compensation motion in real-time. This closed-loop control ensures that vibrations are actively counteracted during high-speed operation, maintaining work accuracy throughout the process.
Data Source
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AI summary
A robot system includes a work apparatus, a robot, and a controller. The work apparatus is configured to make a work module move relative to the work apparatus and is configured to perform work using the work module. On the robot, the work apparatus is mounted. The controller is configured to perform synchronization control between the work apparatus and the robot. The controller includes a control section configured to control the robot to make a motion that cancels a force of the work module against the robot when the work module moves relative to the work apparatus.