Independent Vibration Controller for Robot Arms
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Solution Overview
Problem
Existing vibration control systems for robot arms require additional memory, acceleration sensor interfaces, and software in each robot controller, leading to increased costs and complexity when implementing vibration control in manufacturing environments with multiple robots.
Innovation Solution
A vibration control robot system where a robot vibration controller is arranged independently of the robot controller, allowing for wireless communication to transmit corrected operation command values and acceleration data, thereby eliminating the need for vibration control software and interfaces in each robot controller, enabling cost-effective and efficient vibration control across multiple robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vibration control is implemented in each robot controller by adding memory, acceleration sensor interface, and software, then vibration suppression capability is improved, but system cost and complexity increase
Solution Approach 1:
The system separates vibration control functionality from the main robot controller by introducing an independent robot vibration controller. This segmentation allows vibration control to be handled by a dedicated external device, preventing the main controller from becoming more complex while still achieving vibration suppression.
Solution Approach 2:
An independent robot vibration controller acts as an intermediary between the robot controller and the actuator. This mediator receives operation command values from the robot controller, generates vibration compensation signals, and feeds them back to the actuator, thereby suppressing vibration without modifying the original robot controller.
2Reliability
If vibration control components are added to each robot controller, then vibration control performance is improved, but implementation cost increases
Solution Approach 1:
The independent robot vibration controller serves multiple robots simultaneously, making it a universal device. Instead of requiring separate vibration control systems for each robot, a single external controller can manage vibration suppression across the entire robot system, significantly reducing implementation costs.
Solution Approach 2:
The patent combines the vibration control functionality with the existing robot control system through communication interfaces, rather than physically integrating separate components into each robot controller. This merging approach allows cost-effective implementation by utilizing shared hardware and communication infrastructure.
3Reliability
If acceleration sensor interface and vibration control software are installed in each robot controller, then vibration suppression is achieved, but system configuration becomes more complex
Solution Approach 1:
The patent extracts the acceleration sensor interface and vibration control software from the robot controller and places them in an independent external controller. This extraction simplifies the robot controller's configuration while maintaining full vibration suppression functionality through the external device.
Data Source
AI summary
A vibration control robot system of the present invention includes: a robot controller (101) transmitting an operation command value and receiving an output value of a pulse encoder of the servo motor, wherein the robot controller includes a controller-side communication unit (5) which transmits the operation command value and the output value of the pulse encoder to a robot vibration controller; and the robot vibration controller (11) including: an acceleration sensor interface (15); a corrected operation command value calculation unit (13) which calculates a corrected operation command value obtained so as to suppress vibration of the robot; and a vibration-controller-side communication unit (12) which transmits the corrected operation command value to the robot controller (101), wherein the robot vibration controller (11) is arranged independently of the robot controller (101).