Robotic Compliance Correction with Delta-Based Trajectory Adjustment
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Solution Overview
Problem
Traditional robotic systems face limitations in handling compliance in mechanical linkages and non-rigid connections, leading to inaccurate position and force control, especially in dynamic and unconstrained environments, where current remedies are not effective across all scenarios.
Innovation Solution
A robotic control system that includes primary and ancillary sensors to record position and orientation data, with a controller that modifies the trajectory of the object based on delta values calculated from sensor data and static relationships, enabling dynamic pose correction and hybrid force/position control to account for compliance and environmental changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional robotic systems use rigid connections and ignore compliance, then the control process is simplified, but position and force control accuracy deteriorates
Solution Approach 1:
The system employs feedback control by continuously monitoring the actual position and orientation of the object using sensors, comparing it with the desired trajectory, and dynamically adjusting the robot's movements to compensate for compliance. The controller receives real-time data from position sensors and force sensors, calculates deviations, and modifies control commands to maintain accuracy despite compliant connections.
Solution Approach 2:
The patent replaces purely mechanical rigid connection assumptions with a hybrid system that combines mechanical actuation with sensor-based measurement and software-based compensation. Instead of relying on mechanically rigid connections, the system uses electronic sensing and computational algorithms to achieve the same level of control accuracy, substituting mechanical rigidity requirements with electronic feedback mechanisms.
2Measurement precision
If additional working components and position sensors are added to robots, then position control accuracy improves, but device complexity and cost increase
Solution Approach 1:
The system achieves multi-functionality by using the robot's existing position sensors for multiple purposes: both for standard trajectory following and for compliance compensation. The same sensors that track position are also used to detect compliance-induced deviations, eliminating the need for separate dedicated compliance sensors in many cases. This universal use of existing components improves accuracy without proportionally increasing system complexity.
Solution Approach 2:
The robot system performs self-diagnosis and self-correction by using its own sensors to detect compliance effects and automatically adjusting its control parameters. The system monitors its own performance through force sensors and position sensors, identifies deviations caused by compliance, and autonomously compensates without external intervention, reducing the need for additional external monitoring equipment.
3Adaptability or versatility
If robots operate in highly unconstrained environments, then versatility improves, but reliability and task completion success rate deteriorate due to environmental changes
Solution Approach 1:
The system implements dynamic adaptation by continuously adjusting control parameters based on real-time environmental conditions and object compliance characteristics. Rather than using fixed control parameters, the system dynamically modifies trajectory commands, force limits, and compliance compensation factors during operation, allowing it to adapt to changing environmental conditions while maintaining reliable task completion.
Solution Approach 2:
The patent employs parameter changes by adjusting control variables such as desired position, desired force, and compliance compensation factors based on sensor feedback and environmental conditions. The controller modifies these parameters dynamically to account for environmental uncertainties and compliance effects, enabling the robot to maintain reliable operation across diverse and changing environments without requiring complete reprogramming.
Data Source
AI summary
Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.