Robotic Arm Motion Control Using Braking for Higher Derivatives
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic systems face challenges in precisely controlling higher derivatives such as velocity and acceleration due to latency and noise in sensor measurements, leading to instability and errors in energy injection, which affects the control of robotic arms and end effectors.
Innovation Solution
The implementation of a robotic system with independently controllable higher derivatives using braking systems and passive elements that directly control velocity and acceleration without the need for state estimation, ensuring stability and precise energy removal to achieve optimal control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If sensor measurements are used to estimate higher derivatives, then control information is obtained, but latency and noise cause measurement errors and instability
Solution Approach 1:
The patent extracts the harmful aspect of derivative estimation by removing the dependency on noisy sensor measurements and complex differentiation algorithms. Instead of estimating higher derivatives through computation, the system directly measures them using specialized sensors, thereby taking out the source of latency and measurement errors while retaining the necessary control information.
Solution Approach 2:
The patent introduces direct measurement sensors as an intermediary between the physical state and the control system. These sensors serve as mediators that provide accurate, real-time higher derivative information without requiring complex signal processing or differentiation of noisy position data, thus resolving the contradiction between information availability and reliability.
2Ease of operation
If higher derivatives are controlled through energy injection, then motion control is achieved, but timing and amount errors cause instability and poor settling
Solution Approach 1:
The patent implements a feedback control mechanism where directly measured higher derivatives are fed back to the control system in real-time. This feedback loop enables precise adjustment of energy injection timing and magnitude, allowing the system to achieve desired motion while maintaining stability by continuously correcting based on accurate measured states rather than estimated ones.
3Extent of automation
If sensor algorithms run on CPU, then state estimation is performed, but intrinsic latency creates errors in magnitude and phase
Solution Approach 1:
The patent replaces the computational algorithmic approach (software-based derivative estimation running on CPU) with a direct physical measurement approach. By substituting the mechanical/computational estimation process with direct sensor measurement, the system eliminates CPU processing latency and algorithmic computation delays while maintaining automated state information.
Data Source
AI summary
A robotic system with independently controllable higher derivatives is disclosed. An indication is received of a trajectory through which an end effector comprising a robotic arm is to be moved. A plan is determined to use a combination of one or more motors and one or more energy removal devices to move one or more elements comprising the robotic arm in a manner that will result in the end effector being moved through the trajectory, including by using the one or more motors to apply torque to said one or more elements comprising the robotic arm during a first interval and using the one or more energy removal devices to remove energy from one or more of said elements during a second interval that starts after the start of the first interval. Commands to implement the plan are sent via a communication interface.