Robot Control Signal Filtering for Resonance and Position Accuracy
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Solution Overview
Problem
Existing robot technologies face challenges in accurately controlling the position and force of end effectors due to vibration resonance, leading to potential misalignment and reduced precision in tasks.
Innovation Solution
A control device that generates and switches between control signals to eliminate specific frequency components from torque control signals, allowing the robot to operate based on either the original or modified signals depending on user instructions, thereby preventing resonance at predetermined frequencies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a band-elimination filter is applied to eliminate vibration frequency components from the torque control signal, then resonance at the vibration frequency is reduced, but the end effector may not be located at the required position, degrading position control accuracy
Solution Approach 1:
The patent applies dynamics by making the filter application dynamic rather than static. The control signal generation unit selectively applies the band-elimination filter based on real-time detection of resonance conditions. When resonance is detected at a specific frequency, the filter is applied to eliminate that frequency component. When resonance is not present, the original control signal is maintained to ensure precise position control. This dynamic switching resolves the contradiction by adapting the vibration reduction measure to actual operational conditions.
Solution Approach 2:
The patent changes the parameter of filter application from a fixed state to a variable state based on detected resonance frequency. The control signal generation unit modifies the control signal by applying frequency filtering only when specific frequency components corresponding to resonance are detected. This parameter change approach allows the system to maintain high position control accuracy while reducing vibration when necessary, thus resolving the technical contradiction between vibration reduction and position control precision.
2Reliability
If frequency component reduction is always applied to prevent resonance, then vibration at predetermined frequencies is eliminated, but the robot cannot accurately track moving targets or respond to force control requirements
Solution Approach 1:
The system dynamically adjusts the control signal processing based on detected resonance conditions. The control signal generation unit detects resonance frequency components in real-time and selectively applies band-elimination filtering only when resonance is present. This dynamic approach maintains control flexibility by preserving the original control signal characteristics when resonance is not an issue, while effectively preventing vibration when resonance frequencies are detected. This resolves the contradiction between resonance prevention and control adaptability.
3Reliability
If the control signal is modified to eliminate vibration frequencies, then resonance is reduced, but the end effector positioning accuracy deteriorates due to deviation from the original control signal trajectory
Solution Approach 1:
The patent implements parameter changes by selectively modifying the control signal based on detected resonance frequency components. The control signal generation unit analyzes the control signal for presence of resonance frequencies and applies band-elimination filtering only when such frequencies are detected. When no resonance is present, the original control signal parameters are maintained unchanged, ensuring accurate end effector positioning. This selective parameter modification resolves the contradiction between vibration suppression and position accuracy by applying filtering only when necessary.
Data Source
AI summary
A control device includes: a processor wherein the processor is configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal, output one control signal among the first control signal and the one or more second control signals, receive an instruction indicating execution of a reduction in the frequency component, generate a driving signal for driving a robot based on the control signal output from the processor and output the driving signal, output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, and output the second control signal when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied.