Robot Spring Constant Correction for Torque-Shifted Weaving Paths
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing spring constant correction devices for articulated robots experience a decrease in correction accuracy as the difference between the arm torque at the end point position and the torque required at the target end point position increases during weaving motions.
Innovation Solution
A spring constant correction device and method that measure and compare the position and attitude of the articulated robot's distal end, correcting the spring constant based on multiple factors including the angle and torque at both the end point and target attitudes, using a robot controller with an elastic deformation compensation unit to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the spring constant is corrected using only position and attitude measurement values, then the correction process is simple, but the correction accuracy decreases as the torque difference between end point and target position increases
Solution Approach 1:
The patent extends the correction parameters from only position and attitude to include torque information. By incorporating torque values at both the end point and target positions, the correction algorithm can account for the torque difference that causes accuracy degradation, thereby improving spring constant correction accuracy without excessive complexity increase
Solution Approach 2:
The patent implements a feedback mechanism where the measured position, attitude, and torque values are compared with target values, and the spring constant is iteratively corrected based on the errors. This feedback loop allows the system to adapt to torque variations and maintain high correction accuracy across different operating conditions
2Measurement precision
If the spring constant correction uses multiple parameters including torque, then the correction accuracy is maintained across different torque conditions, but the device complexity and calculation load increase
Solution Approach 1:
The patent performs preliminary measurements of position, attitude, and torque at both the end point and target positions before executing the correction algorithm. By having all necessary parameters ready in advance, the correction calculation can directly use these values without requiring complex real-time computations, thus maintaining accuracy while managing complexity
Solution Approach 2:
The correction process is segmented into distinct measurement phases and calculation phases. The measurement of position, attitude, and torque is separated from the spring constant calculation, allowing each part to be optimized independently. This segmentation reduces the overall computational complexity while maintaining the benefits of using multiple parameters
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
The solution improves correction accuracy by adjusting the spring constant regardless of the torque difference at the end point and target positions, ensuring precise trajectory control in articulated robots.
Implementation Method 1
a speed reducer acts as a spring element and elastically deforms
Data Source
AI summary
A spring constant correction device and method measure a position and attitude of a distal end of an articulated robot when the articulated robot is operated in a state where elastic deformation is compensated, compare measurement values of the position and attitude of the distal end and target values of the position and attitude, and correct a spring constant based on a result of the comparison. In case of the correction, the spring constant is corrected at a predetermined position based on at least three of: an angle of an end point attitude based on the measured attitude; a torque of the distal end in the end point attitude; an angle of the distal end in a target attitude; and a torque of the distal end in the target attitude. A program of such a method is recorded in a recording medium.