Robot Parameter Learning With Vibration-Based Early Suspension
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Solution Overview
Problem
Existing robot operation parameter learning techniques require extensive time as they perform all predetermined operations within the learned allowable range from start to end, leading to inefficient learning processes.
Innovation Solution
An operation parameter adjusting method that involves detecting vibration in a robot system, executing adjustment operations with candidate parameter values, optimizing these parameters based on detection values, and determining the optimal parameters by repeating the process while suspending operations that exceed reference values, thereby reducing the time required for adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If all predetermined operations are performed in the learning process, then the operation allowable range can be learned, but the learning time becomes excessively long
Solution Approach 1:
The patent applies partial action by selectively suspending detection processing for operations that have already met reference values, rather than performing all predetermined operations. This reduces the learning time while maintaining sufficient learning accuracy for the operation allowable range.
Solution Approach 2:
The patent uses feedback mechanisms by comparing detection values with reference values during the learning process. Based on this comparison, the system dynamically determines whether to continue or suspend detection processing, enabling adaptive learning that balances accuracy and time efficiency.
2Reliability
If detection processing is performed for all adjustment operations, then complete operation parameter optimization is achieved, but the adjustment time increases
Solution Approach 1:
The patent performs detection processing only for necessary operations by suspending processing for operations that have already met reference values. This partial action approach maintains sufficient optimization reliability while significantly improving parameter adjustment speed.
Solution Approach 2:
The patent segments the detection processing into multiple independent steps, allowing selective suspension of individual steps based on whether reference values have been met. This segmentation enables flexible control over the optimization process to balance completeness and speed.
3Loss of time
If the detecting step is suspended early, then the adjustment time is reduced, but the operation parameter determination accuracy may be compromised
Solution Approach 1:
The patent uses feedback from comparing detection values with reference values to dynamically control the suspension of detection processing. This feedback mechanism ensures that suspension decisions are made only when sufficient data has been collected, maintaining determination accuracy while reducing unnecessary processing time.
Solution Approach 2:
The patent implements dynamic control over the detection processing duration. Rather than using a fixed number of steps, the system adaptively determines when to suspend processing based on real-time comparison results, optimizing the balance between time efficiency and accuracy.
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 method reduces the time needed for adjusting operation parameters by selectively executing only necessary operations, improving the efficiency of the learning process and optimizing robot performance.
Implementation Method 1
a detecting section configured to detect vibration of the robot
Data Source
AI summary
An operation parameter adjusting method according to an aspect includes a detecting step for causing a robot to execute a plurality of adjustment operations using candidate values of operation parameters and acquiring detection values of a detecting section, an operation parameter updating step for executing optimization processing for the operation parameters using the acquired detection values to thereby obtain new candidate values of the operation parameters, a repeating step for repeating the operation parameter updating step and the detecting step, and an operation parameter determining step for determining, based on one or more candidate values of the operation parameters obtained by the repeating step, the operation parameter used in the robot system. The detecting step includes a suspension determining step for performing continuation or suspension of the detecting step based on a result of comparison of the acquired detection values of the part of the adjustment operations and a reference value.