Robot Vibration Suppression via Angular Velocity Sensor Placement
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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 processing required for accurate control.
Innovation Solution
A robot system with a configuration of first and second angular velocity sensors positioned at specific angles relative to their respective rotating axes, allowing for 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 and Jacobi's transformation is performed for coordinate axis transformation, then vibration suppression control can be achieved, but complicated and enormous computation processing is required which increases cost and may cause computation errors
Solution Approach 1:
The patent extracts only the necessary angular velocity components around the three rotating axes using specifically positioned angular velocity sensors, eliminating the need for full six-axis sensor data and complex Jacobi transformation computations. This selective extraction approach maintains vibration suppression capability while dramatically reducing computational burden.
Solution Approach 2:
The patent changes the sensing parameters by positioning angular velocity sensors at specific locations and orientations (detection axes parallel to or orthogonal to rotating axes) rather than using a fixed six-axis sensor configuration. This parameter change enables direct measurement of required angular velocities without complex coordinate transformations.
2Manufacturing precision
If complicated computation processing is performed to obtain vibrational component of angular velocity, then vibration suppression control is achieved, but computation errors are likely to occur which reduce suppression effectiveness
Solution Approach 1:
The patent extracts only the essential angular velocity data directly from properly positioned sensors, eliminating the need for complex computational transformations that introduce errors. This direct extraction method ensures high precision with minimal computation.
3Reliability
If angular velocity sensors are provided in multiple arms for comprehensive vibration detection, then vibration suppression reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the third arm's angular velocity sensor serve multiple functions: it detects angular velocity around the third rotating axis directly and, through the parallel axis configuration, also provides information about the second arm's rotation. This multi-functionality reduces the total sensor count while maintaining comprehensive vibration detection capability.
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 vibration suppression with reduced computational complexity, minimizing errors and increasing response speed while lowering costs by reducing the number of sensors and simplifying the system architecture.
Implementation Method 1
a first angular velocity sensor which is provided in the first arm, and a second angular velocity sensor which is provided in the third arm
Implementation Method 2
a first angular velocity sensor which is provided in the first arm, and a second angular velocity sensor which is provided in the third arm
Data Source
AI summary
A robot includes a base, a first arm which is rotatable around a first rotating axis with respect to the base, a second arm which is rotatable around a second rotating axis orthogonal to the first rotating axis, a third arm which is rotatable around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm, and a second angular velocity sensor provided in the third arm. The angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle. The angle between a detection axis of the second angular velocity sensor and the second rotating axis is a predetermined second angle.