Robot Vibration Frequency Display for Resonance Reduction
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Solution Overview
Problem
Existing robot technologies face challenges in easily identifying and reducing vibrations, particularly in high-degree-of-freedom robots, due to complex waveforms and directional uncertainties, making it difficult for users to specify and measure problematic vibration frequencies.
Innovation Solution
A robot control device that includes a display unit to indicate target vibration frequencies, allowing users to easily understand and specify vibration frequencies through vibration data measurement and display parameters, enabling comparison of vibrations caused by different control signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If residual vibration is measured by adding an impact to the end effector with a hammer, then vibration frequency information can be obtained, but the waveform includes various frequency components making it difficult to specify the problematic vibration frequency
Solution Approach 1:
The patent segments the complex vibration waveform into individual frequency components through Fourier transform analysis. This decomposition allows the system to identify and display specific problematic vibration frequencies separately from other frequency components, making it easy for users to specify which frequencies to reduce without being overwhelmed by the complex composite waveform.
Solution Approach 2:
The patent introduces an intermediary processing system that automatically analyzes the vibration waveform and extracts frequency information. This intermediary (the control device with Fourier transform capability) acts as a mediator between the raw vibration measurement and the user, performing the complex analysis work and presenting simplified frequency data for user specification.
2Measurement precision
If three sensors are installed to measure vibration in three perpendicular directions, then comprehensive vibration data can be obtained, but it becomes difficult to process and specify the problematic vibration frequency
Solution Approach 1:
The patent merges the data from multiple sensors and multiple frequency components into a unified analysis framework. By combining all vibration measurements and processing them through Fourier transform, the system consolidates complex multi-directional data into identifiable frequency patterns, making it simpler rather than more complex to specify problematic frequencies.
Solution Approach 2:
The control device serves as an intermediary that automatically processes and integrates data from multiple sensors. It performs the complex task of combining multi-directional vibration data and extracting frequency information, relieving the user from the burden of manually processing multiple measured values while maintaining comprehensive measurement capability.
3Reliability
If a band-elimination filter is applied to eliminate vibration frequency components, then robot resonance can be reduced, but users need to accurately specify the target vibration frequency which is difficult with complex waveforms
Solution Approach 1:
The patent implements a feedback mechanism where the system first measures the actual vibration waveform, performs Fourier transform to identify the specific problematic frequencies, and then uses this feedback information to configure the band-elimination filter appropriately. This feedback loop ensures that the filter is tuned to the actual vibration characteristics rather than requiring users to guess or estimate frequencies.
Solution Approach 2:
The control device acts as an intermediary that bridges the gap between vibration measurement and filter configuration. It automatically analyzes the waveform, identifies target frequencies, and translates this information into appropriate filter parameters, eliminating the need for users to directly specify complex frequency values while maintaining effective vibration reduction.
Data Source
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AI summary
A robot control device includes: a reception unit that receives a first instruction from an operation unit; a display control unit that displays information regarding a target vibration frequency of a robot obtained based on vibration data indicating vibration of the robot in a certain time section when the reception unit receives the first instruction on a display unit; a setting unit that sets the target vibration frequency; a control signal generation unit that is able to generate a second control signal obtained by reducing the target vibration frequency from a first control signal based on the set target vibration frequency; and a driving signal generation unit that is able to generate a driving signal to drive the robot based on the second control signal and output the driving signal.