Robotic Compliance Correction Using Multi-Sensor Pose Feedback
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Solution Overview
Problem
Traditional robotic systems fail to accurately account for compliance in non-rigid connections, leading to incorrect position and force poses, especially in unconstrained environments, and current remedies are not effective in all scenarios.
Innovation Solution
A robotic control system that utilizes primary and ancillary sensors to detect compliance, adjusting the trajectory in real-time through dynamic pose correction and hybrid force/position control, incorporating a controller with non-transitory memory and processor to modify the path based on sensor data and static relationships.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional robotic systems use rigid connection assumptions and predefined control instructions, then the control process is simplified, but position accuracy deteriorates due to compliance in mechanical linkages
Solution Approach 1:
The system employs multiple sensors (primary and ancillary) to continuously monitor the actual positions and orientations of components, feeding this data back to the controller. The controller calculates deviation values comparing expected versus actual states and uses this feedback to dynamically adjust control instructions, compensating for compliance effects in real-time without requiring complex rigid connection assumptions
Solution Approach 2:
The system dynamically changes control parameters by calculating delta values that represent deviations from expected positions. These parameter adjustments are applied to modify trajectory points in real-time, transforming the control approach from static predefined instructions to dynamic parameter-adjusted commands that account for compliance
2Adaptability or versatility
If additional working components and position sensors are added to robots to handle environmental changes, then adaptability improves, but device complexity increases
Solution Approach 1:
The control system performs multiple functions using the same sensor array: it tracks position, monitors orientation, detects environmental changes, and calculates compliance deviations all through the primary and ancillary sensors. This multi-functional approach improves adaptability without proportionally increasing system complexity
Solution Approach 2:
The system automatically detects and compensates for compliance effects and environmental changes without requiring external intervention or complex additional components. The controller self-adjusts by calculating delta values from sensor data and modifying trajectories autonomously
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.