Torque Estimation System with Angular Velocity Limits
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Solution Overview
Problem
Torque estimation systems for robots lack limit value setting mechanisms, leading to unstable operations due to unexpected friction torque estimates, and simply limiting command values can result in reduced work efficiency.
Innovation Solution
A torque estimation system that includes angular velocity detection and limit value setting based on Coulomb and viscous friction models, measurement errors, and a margin value to set upper and lower limits for friction torque, using machine learning to estimate friction torque and prevent output beyond these limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If limit value setting means is added to the torque estimation system, then the stability of robot operation is improved, but the device complexity increases
Solution Approach 1:
The patent introduces limit value setting means as an intermediary component between the torque estimation means and the control means. This intermediary sets upper and lower limit values based on angular velocity and friction models, and the torque estimation means outputs only values within these limits. This mediator approach stabilizes robot operation by filtering unexpected friction torque estimates without requiring complex changes to the overall system architecture.
Solution Approach 2:
The patent applies parameter changes by dynamically adjusting the upper and lower limit values of friction torque based on the angular velocity of the rotation mechanism. The limit value setting means calculates these limits using friction models (Coulomb friction and viscous friction) and current operating parameters, allowing the system to adapt limits to changing conditions while maintaining stability without fixed complex hardware modifications.
2Reliability
If command values are simply limited to prevent unstable operation, then the stability of robot operation is improved, but the work efficiency deteriorates due to operation stops
Solution Approach 1:
The patent implements feedback by having the torque estimation means continuously output friction torque values that are constrained by the limit values set according to angular velocity. This feedback mechanism ensures that only physically plausible friction torque estimates are used in control, preventing operation stops while maintaining efficient continuous operation. The system feedbacks adjusted limit values based on real-time angular velocity measurements.
Solution Approach 2:
The patent applies dynamics by making the limit values dynamic rather than static. The upper and lower limit values are continuously adjusted based on the current angular velocity of the rotation mechanism, allowing the system to adapt to changing operating conditions. This dynamic adjustment prevents operation stops by preventing command value limitations while maintaining stability through adaptive constraint enforcement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach stabilizes robot operations and prevents work efficiency losses by setting appropriate limits for friction torque estimates, ensuring stable and efficient robot control.
Implementation Method 1
angular velocity detecting means for detecting an angular velocity of the rotation mechanism
Implementation Method 2
a model based on Coulomb friction and viscous friction
Implementation Method 3
a model based on Coulomb friction and viscous friction
Implementation Method 4
torque estimation means for estimating the friction torque of the rotation mechanism using an estimation model of the friction model generated by machine learning
Data Source
AI summary
It is possible to effectively prevent lowering of work efficiency while stabilizing an operation of a robot or the like. A torque estimation system estimates friction torque of a rotation mechanism. The torque estimation system inclues angular velocity detecting means for detecting an angular velocity of the rotation mechanism, and limit value setting means for setting an upper limit value and a lower limit value according to the angular velocity of the rotation mechanism detected by the angular velocity detection means, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque of the estimated friction torque.