Robot Positional Relationship Acquisition via Angular Velocity Sensing
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Solution Overview
Problem
Users creating entertainment robots face complexity and error in manually setting relationships between motors and rotation shafts, leading to inaccurate robot operation and excessive burden in identifying incorrect settings, especially for inexperienced users.
Innovation Solution
A positional relationship acquiring apparatus that includes a motor control unit, receiving unit, and positional relationship acquiring unit using angular velocities from sensors to automatically determine the positional relationship between rotation shafts driven by multiple motors, reducing the need for manual setting and minimizing incorrect configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If users manually set the relationship between motors and rotation shafts, then the robot can operate with known correspondence, but the task becomes highly complex and error-prone for inexperienced users
Solution Approach 1:
The system performs self-identification of the positional relationship between motors and rotation shafts by automatically detecting angular velocities during automated movement sequences. The control unit commands each motor to move sequentially while sensors detect angular velocities, and the system autonomously determines the correspondence relationships without requiring user configuration or manual setting.
2Ease of operation
If users manually configure motor-rotation shaft relationships, then correspondence can be established, but incorrect settings occur frequently and are difficult to identify
Solution Approach 1:
The patent replaces manual mechanical configuration with an automated sensing and computation system. Angular velocity sensors detect rotational movements, and the control unit processes the detected data to automatically determine which motor drives which rotation shaft, eliminating the need for users to manually configure relationships and reducing errors from incorrect settings.
3Extent of automation
If automated movement sequences are executed to detect angular velocities, then positional relationships can be acquired automatically, but time is required for the detection process
Solution Approach 1:
The system executes periodic automated movement sequences where each motor is commanded to move in turn while angular velocity sensors detect the resulting rotations. This structured periodic detection approach systematically acquires positional relationship data for all motors and rotation shafts in an organized manner, balancing automation completeness with efficient time utilization.
Data Source
AI summary
To provide a positional relationship acquiring apparatus that can acquire the positional relationship between a plurality of rotation shafts that are driven by a plurality of motors, without a user manually performing setting or the like.A positional relationship acquiring apparatus includes: a motor control unit that controls a plurality of motors of a robot that has a plurality of rotation shafts that are respectively driven by the plurality of motors; a receiving unit that receives angular velocities that have been acquired by a plurality of angular velocity sensors that are respectively provided for the plurality of rotation shafts; and a positional relationship acquiring unit that acquires a positional relationship between the plurality of rotation shafts, using the angular velocities acquired by the plurality of angular velocity sensors and received by the receiving unit when the plurality of rotation shafts have been rotated by the motor control unit one by one.