Robot Tuning for Sensor Delay Compensation in Motion Control
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Solution Overview
Problem
Existing robot systems require extensive manual tuning efforts and specialized knowledge to adjust control parameters, particularly due to sensor and controller delays, which hinder high-speed and accurate operation.
Innovation Solution
A method and apparatus for automatically determining sensor and robot delays by collecting sensed and robot positions, using regression and geometry relationships to minimize estimation errors, allowing for automatic tuning without requiring deep engineering knowledge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual tuning of control parameters is performed by engineers, then the robot system can achieve high-performance control, but it requires much time and efforts and rich knowledge about controlling parameters
Solution Approach 1:
The system automatically determines sensor delay and robot delay through self-testing procedures without requiring engineer intervention. The robot executes predefined motion patterns while sensors collect position data, and the system computationally determines delay parameters automatically, enabling the system to tune itself
Solution Approach 2:
The system changes operational parameters (velocity, accuracy requirements) during the tuning process to extract delay characteristics. By collecting sensor data at different velocities and accuracy levels, the system computes optimal delay compensation parameters adaptively
2Measurement precision
If vision processing is performed in the robot system, then flexibility and accuracy are improved, but the processing speed is relatively slow compared with high speed movement
Solution Approach 1:
The system performs preliminary calibration to determine sensor delay before actual operation. By pre-characterizing the sensor's temporal delay through controlled motion tests, the system can compensate for vision processing delays in real-time operations without sacrificing processing speed
Solution Approach 2:
The system uses feedback from sensor position data combined with computed delay parameters to adjust control commands. The determined sensor delay is fed back into the control loop to pre-compensate for vision processing delays, maintaining both accuracy and speed
3Device complexity
If low feedback frequency is used in the robot system, then system complexity is reduced, but the robot system cannot achieve high efficiency
Solution Approach 1:
The system determines robot delay by analyzing position data collected at different feedback frequencies and velocities. This allows the system to characterize controller delay without requiring high-frequency feedback infrastructure, maintaining simplicity while enabling efficiency improvements through delay compensation
Data Source
AI summary
Methods, apparatuses, systems, and computer readable media for tuning a robot system. In a method, sensed positions of a target that is processed by the robot system are collected from a sensor of the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy. Robot positions of the robot system are collected from a controller of the robot system during the movement. Robot position estimations are obtained based on the robot positions and the sensed positions, the robot position estimations being associated with a sensor delay of the robot system caused by the sensor. The sensor delay is determined based on the sensed positions and the robot position estimations. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system.