Robot Vibration Suppression via Inertial Sensor Axis Alignment
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Solution Overview
Problem
Existing robot control systems require high-performance and expensive CPUs for complex computation to suppress vibration, leading to increased costs and potential computation errors due to the complexity of coordinate transformations and changing motor rotation angles.
Innovation Solution
A robot system with a three-axis inertial sensor mounted on the third arm, allowing detection of the inertia of the first and second arms, which simplifies vibration suppression by maintaining a constant detection axis, reducing the need for complex computations and minimizing errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a six-axis sensor is provided in the front end portion and coordinate transformation is performed for vibration suppression, then vibration can be suppressed, but complicated and enormous computation processing is required, increasing cost and computation errors
Solution Approach 1:
The patent extracts only the necessary detection function by providing a three-axis inertial sensor specifically in the third arm aligned with the third rotating axis, rather than using a six-axis sensor in the front end. This extraction eliminates unnecessary detection components and simplifies the computation required for vibration suppression.
Solution Approach 2:
Instead of performing coordinate transformations from the front end sensor data to suppress vibration, the patent inverts the approach by directly detecting the angular velocity around the third rotating axis using the inertial sensor in the third arm. This inversion eliminates the need for complex Jacobi transformations and enables simpler computation.
2Reliability
If a six-axis sensor is used with coordinate transformation, then vibration suppression is achieved, but a high-performance and expensive CPU is required, increasing cost
Solution Approach 1:
The patent replaces the expensive high-performance CPU requirement with a simpler sensor configuration (three-axis inertial sensor in the third arm) that can be processed by standard control devices. This substitution uses a more economical approach to achieve the same vibration suppression function.
Solution Approach 2:
The patent extracts only the essential detection capability needed for vibration suppression by using a three-axis inertial sensor in the third arm rather than a six-axis sensor. This extraction reduces the computational burden and eliminates the need for expensive high-performance CPUs, thereby reducing manufacturing cost.
3Reliability
If complicated computation processing is performed for vibration suppression, then vibration can be suppressed, but computation errors are likely to occur, reducing vibration suppression effectiveness
Solution Approach 1:
The patent inverts the computation approach by directly detecting the angular velocity around the third rotating axis using the inertial sensor in the third arm, rather than performing complex coordinate transformations. This inversion significantly reduces the number of computation steps and minimizes the accumulation of computation errors, thereby improving computation accuracy.
4Reliability
If an inertial sensor is provided in each of the first arm and the second arm, then vibration can be suppressed, but the number of inertial sensors increases, increasing cost and configuration complexity
Solution Approach 1:
The patent merges the vibration detection function into a single three-axis inertial sensor located in the third arm, rather than distributing sensors across multiple arms. This merging reduces the total number of sensors required while maintaining the capability to detect and suppress vibrations in the robotic system.
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 and cost, while maintaining robust control over the robot's motion.
Implementation Method 1
a three-axis inertial sensor which includes a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, and is provided in the third arm, the first detection axis being 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, and a three-axis inertial sensor provided in the third arm and including a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, the first detection axis and the third rotating axis being parallel to each other.