Robot Vibration Suppression via Optical Time Measurement
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Solution Overview
Problem
Conventional robot systems face challenges in effectively suppressing vibrations at the distal end of flexible arms, particularly when performing tasks that require precision and stability, such as inserting into small spaces or performing tasks with tools attached, as they rely on complex image processing and speed calculations.
Innovation Solution
A robot system equipped with a light projection unit and multiple light reception units arranged in a direction intersecting the elongated member, where a timer measures the time for light reception twice to calculate the vibration cycle and direction, allowing the control device to subtly move the proximal end of the elongated member to counteract vibrations, thereby reducing energy and stabilizing the distal end.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If image processing and speed calculations are used to suppress vibration, then vibration suppression capability is improved, but device complexity and computational load increase
Solution Approach 1:
The patent replaces complex image processing and computational speed calculations with a simple optical measurement system. By projecting light along the elongated member and measuring the time for light to travel to and from light reception units, the system directly obtains vibration information without requiring complex algorithms or high-speed computing resources.
Solution Approach 2:
The patent introduces light as an intermediary to measure vibration. Instead of using cameras to capture images and perform complex image processing, the system uses light projection and reception to directly measure the position and movement of the elongated member, simplifying the measurement process while maintaining vibration detection accuracy.
2Measurement precision
If complex image processing is performed to detect position, then measurement precision is improved, but processing time and energy consumption increase
Solution Approach 1:
The patent substitutes image processing with direct optical time measurement. By measuring the time required for light to travel to and from the elongated member, the system obtains position information instantly without requiring frame capture, image processing, or coordinate transformation, thereby eliminating processing delays.
Solution Approach 2:
The patent creates a simplified optical copy of the position measurement process. Instead of capturing full images and processing them to extract position information, the system uses light travel time as a direct copy of position data, obtaining measurement results immediately without intermediate processing steps.
3Reliability
If traditional vibration suppression methods are used, then vibration reduction is achieved, but energy consumption increases due to continuous high-speed computation
Solution Approach 1:
The patent replaces continuous high-speed computation with periodic optical measurements. The light projection and time measurement system requires minimal computational resources, consuming significantly less energy while maintaining effective vibration suppression through simple position feedback.
Solution Approach 2:
The patent uses minimal measurement action to achieve effective vibration suppression. By measuring only the essential position information through light travel time rather than processing complete images, the system obtains sufficient data for control while dramatically reducing computational energy consumption.
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 allows for efficient vibration suppression of the distal end without complex calculations, ensuring stability and precision during operations like inserting into small spaces or performing tasks with tools, by accurately measuring the vibration cycle and direction.
Implementation Method 1
a light projection unit attached to one end of the elongated member, for emitting light along a longitudinal direction of the elongated member, a plurality of light reception units arranged at the other end side of the elongated member, in a direction intersecting the longitudinal direction of the elongated member configured to receive the light emitted by the light projection unit
Implementation Method 2
a timer configured to measure a time necessary for at least one of the plurality of light reception units to receive the light twice
Data Source
AI summary
A robot system 1 including: a robot; a control device which controls the robot; an elongated member attached to a distal end of the robot; a light projection unit attached to one end of the elongated member for emitting light in a longitudinal direction of the elongated member; a plurality of light reception units, arranged at the other end side of the elongated member, configured to receive the light emitted by the light projection unit; and a timer configured to measure time that is necessary for one of the light reception units to receive the light twice, where the control device controls the robot so as to slightly move a proximal end portion of the elongated member in a vibration movement direction of a distal end portion of the elongated member, based on the measured time and an order of light reception by the light reception units.