Robotic Actuator Self-Tuning for Fast Precision Control Setup

Solution Overview

Problem

System tuning for robotic systems is time-consuming, expensive, and requires specialized expertise, especially as actuator characteristics change due to mechanical wear or component replacement.

Innovation Solution

An automated tuning controller measures robotic system characteristics and translates these into control system configuration parameters, allowing for automatic tuning without additional equipment or expertise.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual system tuning is performed by experts, then control precision is improved, but time consumption and cost increase

Engineering Contradiction:

Improvecontrol precisionVSAvoidtuning time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The robotic system performs self-tuning by automatically determining configuration parameters for its own actuators. The system measures actuator characteristics and uses these measurements to calculate optimal control parameters without requiring external expert intervention, thereby reducing tuning time while maintaining control precision

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system automatically adjusts control parameters based on measured actuator characteristics. By changing parameters dynamically according to actual system state and measurements, the system achieves precise control adaptively without requiring manual expert tuning for each scenario

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If manual system tuning is performed by experts, then control precision is improved, but expertise requirements and cost increase

Engineering Contradiction:

Improvecontrol precisionVSAvoidexpertise requirement

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The robotic system performs self-tuning by automatically determining configuration parameters for its own actuators. The system measures actuator characteristics and uses these measurements to calculate optimal control parameters without requiring external expert intervention, thereby reducing tuning time while maintaining control precision

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual expert tuning operations with an automated electronic control system. The automatic tuning controller substitutes for human experts by performing measurements and calculations electronically, eliminating the need for specialized human expertise while achieving the same control precision

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If actuator characteristics change due to wear or replacement, then system adaptability is improved, but retuning complexity increases

Engineering Contradiction:

Improvesystem adaptabilityVSAvoidretuning complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system dynamically adapts to actuator changes by continuously measuring actuator characteristics and automatically recalculating configuration parameters. This dynamic adjustment process simplifies retuning after wear or replacement, as the system self-adjusts without requiring complex manual procedures

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system automatically adjusts control parameters based on measured actuator characteristics. By changing parameters dynamically according to actual system state and measurements, the system achieves precise control adaptively without requiring manual expert tuning for each scenario

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS11731279B2Systems and methods for automated tuning of robotics systems

Publication Date: 2023.08.22 SAMSUNG ELECTRONICS CO LTD

AI summary

In one embodiment, a method includes by a robotic system: sending, by an automatic tuning controller, driving commands to actuators of the robotic system, performing, for each of the actuators, one or more measurements of an actual pose of the respective actuator in response to the driving commands, generating, for each of the actuators, one or more configuration parameters for the respective actuator based on the one or more measurements, and storing the configuration parameters for the actuators in a data store of the robotic system.