Robot Vibration Control Using Interpolated Acceleration Data
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Solution Overview
Problem
Existing robot systems face issues with vibration-induced quality deterioration due to insufficient rigidity, particularly when increasing motion speed, and current vibration detection methods suffer from sparse sampling intervals leading to inaccurate control.
Innovation Solution
A control system incorporating sensors that detect acceleration, an interpolator for interpolating sensor data, and a data generator to create composite data with fine sampling intervals, enabling high-accuracy motion control by transforming and synchronizing data for precise compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the motion speed of the robot is increased to improve productivity, then production efficiency is improved, but vibration is produced at the arm end causing deterioration of machining quality
Solution Approach 1:
The patent applies vibration control through learning compensation. A sensor detects actual vibration at the arm end, and the control system learns the vibration characteristics to generate compensation values that cancel out the harmful vibrations, enabling high-speed operation without sacrificing machining quality
Solution Approach 2:
The patent implements feedback control by using a sensor to detect vibration at the arm end and feeding this information back to the control system. The system continuously monitors and adjusts compensation values based on actual vibration measurements, maintaining machining quality during high-speed operation
2Reliability
If a sensor is installed at the arm end to detect vibration for learning control, then vibration compensation can be achieved, but detection accuracy is insufficient due to sparse sampling intervals
Solution Approach 1:
The patent applies preliminary action by generating compensation values in advance based on learned vibration characteristics. The system pre-calculates compensation data for expected vibration patterns, allowing rapid response without waiting for real-time sensor data processing
Solution Approach 2:
The patent uses copying by creating a virtual model of vibration characteristics through learning. The control system builds a compensation map based on detected vibration patterns, then uses this copied knowledge to generate compensation values without requiring continuous high-frequency sensor measurements
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
The system achieves highly accurate control of robot motion by generating composite data with fine sampling intervals, reducing vibration and improving positional accuracy through learning compensation.
Implementation Method 1
a sensor that detects an acceleration based on vibration of a robot
Data Source
AI summary
Provided is a control system that can control the operation of a robot with high accuracy. A control system 1 is provided with a sensor 44 that detects an acceleration that is based on the vibration of a robot 3, an interpolation unit 222 that interpolates a plurality of pieces of sensor data detected by the sensor 44, and a data generation unit 223 that generates combined data having a short sampling period on the basis of a plurality of pieces of interpolation data obtained through interpolation by the interpolation unit 222.