Servo Control Mode Transition Stability for Surgical Robots
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Solution Overview
Problem
Existing servo control apparatuses for surgical robots face instability and potential hazards when changing control modes, leading to inconsistent changes in control parameters and vibrations during motor control mode transitions.
Innovation Solution
A servo control apparatus that detects and stores sensing data during motor operation, uses linear, sinusoidal, or polynomial functions to follow command data, and employs a protocol for smooth mode changes, including a reset function to stabilize motor control by modulating power applied to the motor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control mode is changed according to control situation, then control flexibility is improved, but system stability deteriorates due to inconsistent control parameter changes
Solution Approach 1:
The system performs preliminary actions by detecting and storing sensing data (position, speed, current) before control mode change occurs. This prepares the necessary data in advance to ensure smooth transition and prevent instability during mode switching.
Solution Approach 2:
The control unit continuously receives feedback from detection units during motor operation and uses this feedback to determine when to change control modes. The sensing data feedback ensures that mode changes are based on actual motor state, maintaining system stability.
2Speed
If control mode change is performed without data following, then response speed is improved, but manufacturing precision deteriorates due to drastic posture changes and vibrations
Solution Approach 1:
The system extracts required sensing data in advance before mode change and prepares command data following trajectories (linear, sinusoidal, polynomial functions) to ensure precise and smooth transitions without drastic posture changes.
Solution Approach 2:
The system changes control parameters smoothly by following command data generated from sensing data using mathematical functions (linear, sinusoidal, polynomial). This gradual parameter transition prevents vibrations while maintaining fast response.
3Measurement precision
If sensing data is detected and stored during motor operation, then control precision is improved, but device complexity increases
Solution Approach 1:
The detection units serve multiple functions: they detect sensing data for both current control mode operation and future mode transitions. The stored sensing data is reused for command data generation, reducing the need for separate measurement systems.
Solution Approach 2:
The control unit uses the sensing data detected by the detection units to generate command data for mode transitions. The system serves itself by reusing its own detected data, eliminating the need for external data sources and reducing overall system complexity.
4Manufacturing precision
If command data following using mathematical functions is implemented, then positioning precision is improved, but loss of time increases due to data processing
Solution Approach 1:
The system calculates and prepares command data following trajectories (linear, sinusoidal, polynomial functions) in advance before mode change occurs. This preliminary calculation reduces real-time processing requirements and maintains positioning precision without significant time loss.
Data Source
AI summary
A servo control apparatus and method, the servo control apparatus including an input unit configured to receive an execution command with respect to one of a first control mode and a second control mode that are configured to control a motor, a plurality of detection units each configured to detect sensing data required for executing each of the first control mode and the second control mode, and a control unit configured to receive a feedback of the plurality of pieces of sensing data detected through the plurality of detection units while executing the first control mode, determine a point of time when a control mode is needed to be changed if the execution command with respect to the second control mode is input through the input unit, and check the sensing data required for executing the second control mode among the plurality of sensing data that are fed back.