Robot Vibration Suppression via Local Angular Velocity Sensors
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Solution Overview
Problem
Existing robot control systems require complex and costly computations to suppress vibration, leading to potential errors and increased costs due to the need for high-performance CPUs and intricate coordinate transformations.
Innovation Solution
A robot system with a configuration of first and second angular velocity sensors positioned on orthogonal or parallel axes, allowing for direct detection and suppression of vibration without the need for extensive computation, reducing the number of sensors and simplifying the system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a six-axis sensor is provided in the front end portion (sixth link) to detect acceleration and obtain vibrational component of angular velocity, then vibration suppression control can be performed, but complicated coordinate axis transformation and computation are required which increases cost and computation error risk
Solution Approach 1:
The patent divides the robot into multiple links (first link through sixth link) and places angular velocity sensors at specific locations (first link and second link) to segment the vibration detection function. This allows each sensor to detect angular velocity locally without requiring complex coordinate transformations, thereby reducing computation complexity while maintaining vibration suppression reliability.
Solution Approach 2:
The patent introduces angular velocity sensors as intermediary devices that directly detect vibrational components without requiring complex computational processing. These sensors act as mediators between the physical vibration and the control system, providing raw angular velocity data that can be directly used for vibration suppression without intricate coordinate axis transformations.
2Reliability
If coordinate axis transformation is performed to obtain vibrational component from six-axis sensor, then vibration control can be achieved, but high-performance CPU is required which increases cost
Solution Approach 1:
The patent replaces expensive high-performance CPUs with standard CPUs by using simple angular velocity sensors that provide direct measurements. The sensors are placed strategically at the first link and second link to capture vibrational components without requiring complex computational processing, thereby reducing hardware costs while maintaining vibration control capability.
Solution Approach 2:
The patent substitutes complex mechanical/computational coordinate transformation systems with direct sensor measurements. Instead of using six-axis sensors that require computational transformation, the patent uses angular velocity sensors that directly measure the required parameters, replacing complex computational mechanisms with simpler sensing mechanisms.
3Reliability
If complicated computation processing is performed every moment to conform to rotation angle changes, then vibration suppression can be attempted, but computation error is likely to occur
Solution Approach 1:
The patent performs preliminary action by placing angular velocity sensors at strategic locations (first link and second link) where they can directly detect vibrational components before complex computations are needed. This preliminary sensing arrangement allows the control system to use direct measurements rather than performing complex coordinate transformations, thereby reducing computation errors while maintaining vibration suppression.
Solution Approach 2:
The patent enables the sensors to self-provide the necessary vibration information in their local coordinate systems without requiring complex external computation. The angular velocity sensors at the first and second links directly output data that can be used for vibration suppression control, making the system self-sufficient and eliminating the need for error-prone coordinate transformations.
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
This configuration enables reliable and efficient vibration suppression with reduced computational complexity, lower costs, and increased response speed, while maintaining detection accuracy and precision.
Implementation Method 1
a first angular velocity sensor which is provided in the first arm and in which an angular velocity detection axis is parallel to the first rotating axis
Implementation Method 2
a second angular velocity sensor which is provided in the second arm and in which an angular velocity detection axis is parallel to the third rotating axis
Data Source
AI summary
A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.