Robot Trajectory Correction for Stand Vibration Control
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Solution Overview
Problem
Existing robot systems face challenges in reducing the impact of vibrations on the stand, particularly at higher frequencies than the control bandwidth, which affects the accuracy and speed of operations due to delayed feedback control methods.
Innovation Solution
A robot apparatus with a control system that calculates and corrects vibration based on model data of the stand and trajectory data of the robot's operation, using correction modes to reduce either the stand's vibration or the relative vibration between the stand and the robot hand, thereby improving operational accuracy and speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot apparatus is operated at high speed and with high acceleration and deceleration capabilities to achieve shorter cycle time and improved productivity, then productivity is improved, but the stand significantly vibrates, thereby affecting the control of the robot apparatus
Solution Approach 1:
The control apparatus calculates the vibration of the stand in advance based on model data of the stand and trajectory data of the robot operation, and corrects the trajectory data before execution. This feed-forward approach prevents vibration from affecting control accuracy while maintaining high-speed operation capability.
2Area of stationary object
If the stand has a smaller size to save space for the robot system, then the space utilization is improved, but the stand significantly vibrates under high load, thereby affecting the control of the robot apparatus
Solution Approach 1:
By calculating the stand vibration in advance using model data and correcting the trajectory data before robot operation, the system compensates for the lack of rigidity in smaller stands, maintaining control accuracy without requiring larger physical dimensions.
3Manufacturing precision
If the feedback control method is used to reduce vibration generated on the stand, then the vibration reduction is achieved, but the control bandwidth limitation causes delayed response, making it difficult to sufficiently reduce high-frequency vibration
Solution Approach 1:
The control apparatus calculates the vibration of the stand in advance based on model data of the stand and trajectory data of the robot operation, and corrects the trajectory data before execution. This feed-forward approach eliminates control delay by preventing vibration before it occurs, rather than reacting to it after detection.
Solution Approach 2:
The control apparatus applies counter-vibration correction to the trajectory data in advance, creating an opposing effect that cancels out the expected vibration from robot operation. This preliminary anti-action prevents high-frequency vibration from affecting control accuracy.
Data Source
AI summary
A robot apparatus is provided on a stand and includes a control apparatus that controls the robot apparatus. The control apparatus calculates vibration generated on the stand based on model data of the stand and trajectory data of an operation of the robot apparatus and corrects the trajectory data based on the vibration.