Robot Gravity Compensation Using Support and Actuator Control
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Solution Overview
Problem
Robot devices designed for space environments face challenges when operated on Earth due to unaccounted gravitational forces, leading to torque limit issues and restricted working areas during ground testing, necessitating an optimal strategy for gravity force compensation.
Innovation Solution
A method involving both gravity-compensating control signals from the support device and the actuator control device, calculated by a computer to minimize joint moments and distribute gravitational load effectively between the robot and support systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot device is operated on Earth without gravity compensation, then the gravitational force causes excessive strain on joints and actuators, but implementing traditional support devices (helium balloons or planar support tables) limits the robot to planar movements only
Solution Approach 1:
The patent introduces a computer device as an intermediary that calculates and distributes gravity compensation between the support device and the robot's own actuators. This mediator coordinates the interaction between the support device and robot joints, enabling three-dimensional movements while preventing excessive joint strain through optimized force distribution.
Solution Approach 2:
The patent segments the gravity compensation function into two parts: external compensation by the support device and internal compensation by the robot's actuators. This segmentation allows the support device to handle the majority of gravitational load while the actuators provide precise control, enabling both planar and spatial movements without overwhelming joint torque limits.
2Weight of moving object
If the robot device is designed for space environment with no gravity, then the joints and actuators can be made smaller and lighter, but the same design cannot withstand gravitational forces during ground testing
Solution Approach 1:
The patent applies anti-weight principle by using the support device to generate compensating forces that counteract gravitational effects on the robot device during ground testing. This allows the robot's lightweight space-optimized joints and actuators to operate without being overloaded by gravity, effectively creating a simulated zero-gravity environment on Earth.
3Reliability
If traditional support devices are used to compensate for gravity, then the gravitational load is reduced, but the working area remains limited due to planar movement constraints
Solution Approach 1:
The patent implements dynamic coordination between the support device and the robot's actuators through real-time control signals calculated by the computer device. This dynamic system allows the robot to perform three-dimensional movements by continuously adjusting the distribution of gravitational compensation, expanding the working area beyond planar constraints while maintaining reliable load management.
Data Source
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AI summary
In a method for controlling a robot device, wherein the robot device has at least one robot element that can be pivoted about at least one first robot joint, - moving the at least one robot element by means of at least one actuator, - controlling the actuator by means of a first actuator control device, wherein first control signals are sent to the actuator, - supporting the robot device by means of a support device, wherein second gravity-compensating control signals are sent to the support device by means of a support control device and thus the support device is controlled such that at least one force and/or a moment is applied to the robot element via a force application element that is connected to the robot element at at least one point, whichTo at least partially compensate for the gravitational load acting on the robot element, it is provided that, in order to compensate for the gravitational force acting on the robot element, not only are gravity-compensating second control signals sent from the support control unit to the support unit, but also additional first gravity-compensating control signals are sent from the actuator control unit to the actuator.