Robotic Compliance Correction Using Multi-Sensor Trajectory Feedback
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Solution Overview
Problem
Traditional robotic systems struggle with accurate control and compliance correction, especially in dynamic and unconstrained environments, due to assumptions of rigid connections and unchanged environments.
Innovation Solution
A system comprising a primary sensor and ancillary sensors, coupled with a controller that retrieves a trajectory, samples sensor data, determines a delta value for compliance correction, and modifies the trajectory accordingly to account for deviations and static relationships.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional robotic systems assume rigid connections and unchanged environments, then control simplicity is maintained, but measurement precision and manufacturing precision deteriorate due to compliance in mechanical linkages
Solution Approach 1:
The system uses 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 (delta values) representing compliance effects and uses this feedback to dynamically correct the trajectory, thereby maintaining position accuracy despite compliance in mechanical linkages
Solution Approach 2:
The patent replaces the assumption of rigid mechanical connections with a computational model that accounts for compliance. Instead of making connections physically rigid, the system substitutes mechanical rigidity with sensor-based measurement and software-based trajectory correction, using coordinate system transformations and delta value calculations to compensate for compliance effects
2Measurement precision
If additional sensors and control mechanisms are added to remedy environmental changes and compliance, then measurement precision improves, but device complexity increases
Solution Approach 1:
The system segments the sensing function into primary sensors (attached to the robot) and ancillary sensors (attached to the object or environment). This segmentation allows each sensor type to specialize in specific measurements, improving overall precision while organizing complexity into manageable, distinct components with clear functional divisions
Solution Approach 2:
The controller performs multiple functions using the same sensor data: it retrieves trajectories, samples sensor data, calculates delta values, determines static relationships, and modifies trajectories. This multi-functionality reduces the need for separate dedicated components for each control task, thereby improving precision without proportionally increasing system complexity
3Ease of operation
If traditional robots function in highly unconstrained environments without compliance correction, then ease of operation is maintained, but reliability deteriorates due to environmental changes and compliance
Solution Approach 1:
The system transitions from static trajectory planning to dynamic trajectory adjustment. The controller continuously samples sensor data during operation and modifies the trajectory in real-time based on actual compliance effects and environmental changes. This dynamic adaptation maintains reliability in unconstrained environments while preserving ease of operation through automated correction
Solution Approach 2:
The system performs preliminary calculations of static relationships between the primary sensor, ancillary sensors, and the object before execution. By pre-determining these geometric relationships and incorporating them into the control algorithm, the system prepares compliance correction in advance, ensuring reliable task completion without adding operational complexity during execution
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.