Robot Torque Signal Switching for Resonance and Position Control
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Solution Overview
Problem
Existing robot technologies face challenges in accurately controlling vibration reduction, leading to potential resonance issues and inaccuracies in position and force control, especially when eliminating specific frequency components from torque control signals.
Innovation Solution
A control device that dynamically switches between original and modified torque control signals based on user input, allowing for optional vibration reduction, with a filter processing unit that generates a third torque control signal as a weighted mean of the original and modified signals to minimize resonance and maintain accurate control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a band-elimination filter is applied to eliminate vibration frequency components from the torque control signal, then resonance is reduced, but position control accuracy deteriorates because the end effector is not located at the required region
Solution Approach 1:
The system dynamically adjusts the torque control signal by calculating a dynamic torque component that compensates for the position deviation caused by filter application. This dynamic adjustment ensures the end effector reaches the required position while maintaining vibration suppression.
Solution Approach 2:
A position correction mechanism acts as an intermediary between the filtered torque control signal and the motor drive. This correction signal compensates for the position deviation introduced by the band-elimination filter, ensuring accurate positioning while maintaining resonance suppression.
2Object-affected harmful factors
If frequency component reduction is always executed to prevent resonance, then vibration is reduced, but control flexibility deteriorates as the system cannot adapt to operations where frequency elimination is unnecessary or harmful
Solution Approach 1:
The system dynamically determines whether to apply frequency component reduction based on real-time operation conditions. The control device switches between filtered and unfiltered torque control signals according to the specific operation phase, providing adaptability while maintaining vibration suppression when needed.
Data Source
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AI summary
A control device includes: a second control signal generation unit that is able to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal; a control signal switching unit that is able to output one control signal among the first control signal and the one or more second control signals; a reception unit that is able to receive an instruction indicating execution of a reduction in the frequency component; and a driving signal generation unit that is able to generate a driving signal for driving a robot based on the control signal output from the control signal switching unit and output the driving signal. The control signal switching unit outputs 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. The control signal switching unit outputs 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.