Robotic Motion Control Using Inertial Sensing for Angle Synchronization
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Solution Overview
Problem
Traditional robotic apparatuses, particularly those with parallel mechanisms, face challenges in measuring displacements in directions other than pitch, leading to increased complexity, reduced reliability, and higher wiring complexity due to the use of multiple encoder modules, which also fail to detect yawing angle synchronization.
Innovation Solution
Incorporating inertial sensors to acquire and fuse sensing data for precise angle synchronization detection, eliminating the need for multiple encoders, thereby simplifying the structure and improving reliability by detecting abnormal operations and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple encoder modules are used to measure displacements in multiple directions, then measurement precision is improved, but device complexity increases and reliability decreases
Solution Approach 1:
The patent combines multiple encoder modules into a single encoder module that can measure displacements in multiple directions simultaneously. This is achieved by integrating multiple measurement functions into one device, reducing the total number of components while maintaining comprehensive measurement capabilities across pitch, roll, and yaw directions.
Solution Approach 2:
The single encoder module is designed to perform multiple measurement functions, capturing displacement data in various directions (pitch, roll, yaw) within the parallel mechanism. This multi-functional approach eliminates the need for separate encoder modules for each direction, simplifying the overall system structure.
2Measurement precision
If multiple encoder modules are installed to detect multi-directional movements, then measurement capability is improved, but wiring complexity increases
Solution Approach 1:
By merging multiple encoder modules into one unified encoder module, the patent reduces the number of wiring connections required. The single module integrates all sensing elements and their associated wiring into one compact unit, significantly simplifying the wiring architecture compared to having separate encoder modules for each measurement direction.
3Measurement precision
If multiple encoder modules are used to monitor parallel mechanism, then measurement completeness is improved, but reliability of robotic apparatus decreases
Solution Approach 1:
The patent combines multiple encoder modules into a single integrated unit, reducing the total number of components that could potentially fail. This consolidation improves reliability by eliminating failure points associated with multiple separate modules while maintaining comprehensive measurement capabilities through the unified module's multi-directional sensing ability.
4Device complexity
If inertial sensors are used for angle synchronization detection, then device complexity is reduced, but measurement precision may be affected
Solution Approach 1:
The patent replaces traditional mechanical encoder modules with inertial sensors for angle synchronization detection. This substitution uses inertial measurement principles (accelerometers, gyroscopes) to determine angular positions and synchronization, eliminating complex mechanical sensing components while achieving the required measurement precision through computational methods.
Data Source
AI summary
The present disclosure provides robot apparatus and a control method thereof. The robotic apparatus includes an executing device and a driving device. The method includes: acquiring inertial sensing data from at least one inertial sensor disposed on one or both of the executing device and the driving device; performing data fusion on at least the inertial sensing data to obtain fused data of the robotic apparatus; and determining an operation status of the robotic apparatus based on the fused data, and controlling the robotic apparatus in response to the operation status. In the present disclosure, inertial sensing data is detected by inertial sensor and data fusion and analysis are performed.