Robot Settling State Detection for Precision Motion Timing
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Solution Overview
Problem
Existing methods for determining robot settling time are manual, time-consuming, hard to scale, and prone to errors, affecting the precision and reliability of robotic tasks.
Innovation Solution
A system that computes a settled state confidence score based on real-time status data to determine when a robot is in a settled state, ensuring commands are issued only when the robot is stable, using a settled state determination engine to adaptively and accurately assess settling time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual tuning is used to estimate robot settling time based on dynamic and noise properties, then the accuracy of settling time estimation is improved, but the time consumption and complexity increase significantly
Solution Approach 1:
The robot system performs self-diagnosis by automatically monitoring its own status data (joint velocities, accelerations) to determine settling time, eliminating the need for external manual tuning. The settling state determination engine uses the robot's own operational data to compute whether the robot has settled, making the system self-sufficient in characterizing its dynamic properties.
Solution Approach 2:
The patent replaces manual mechanical tuning processes with an automated computational system. Instead of physically adjusting and testing the robot to characterize its dynamics, the system uses software-based analysis of status data from sensors and actuators to determine settling time, substituting mechanical adjustment with algorithmic computation.
2Device complexity
If elapsed time since latest command is used to estimate settling time, then the simplicity of the method is improved, but the reliability decreases due to false positive errors
Solution Approach 1:
The system continuously monitors real-time status data from the robot (joint velocities, accelerations, positions) and uses this feedback to determine the actual settling state. Rather than relying on a fixed time delay, the system adjusts the settling time determination based on the observed behavior of the robot, ensuring commands are only issued when the robot truly settles regardless of how much time has elapsed.
3Speed
If settling time is not accurately determined, then the responsiveness of the robot is improved, but the precision of movements deteriorates due to vibrations during settling
Solution Approach 1:
The system dynamically adjusts the settling time determination based on the actual behavior of the robot during operation. Rather than using a static, pre-programmed settling time, the settling state determination engine continuously evaluates real-time status data to adaptively determine when the robot has truly settled, allowing optimal responsiveness while maintaining precision.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot based on settling time of the robot. One of the methods includes executing, by a robot having one or more joints, a motion trajectory to move from a first pose to a second pose; repeatedly computing a settled state confidence score after the robot has begun execution of the motion trajectory; and whenever the current settled state confidence score satisfies a threshold value, executing, by the robot, a command that causes the robot to move.