End Effector Path Correction for Moving Robot Bases
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Solution Overview
Problem
Existing systems face challenges in accurately positioning an end effector due to relative movement between a robot base and the environment, particularly as the distance from the base increases, leading to positioning errors.
Innovation Solution
A system that includes a robot base with a mounted arm and end effector, a tracking system to measure relative positions, and a control system that calculates corrections based on current and reference robot base positions to adjust the end effector path, using transformations and kinematics to account for intentional and unintentional movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the distance from the robot base to the end effector is increased to expand workspace, then the working range is improved, but positioning precision deteriorates due to amplification of base movement errors
Solution Approach 1:
The system continuously monitors the actual robot base position using a tracking system and compares it with the reference position. Based on this feedback, the control system calculates real-time corrections to the end effector path, compensating for base movements and maintaining positioning precision regardless of boom length
Solution Approach 2:
The system pre-calculates correction values based on the difference between reference and actual base positions before executing the end effector movement. This preliminary correction ensures that positioning accuracy is maintained from the start of each movement operation
2Manufacturing precision
If real-time path correction is implemented to maintain positioning accuracy, then positioning precision is improved, but system complexity increases due to additional tracking and calculation components
Solution Approach 1:
The control system acts as an intermediary that receives data from the tracking system and the path planning system, processes this information through coordinate transformations and correction calculations, and generates adjusted control signals for the robot arm, thereby integrating multiple functions through a centralized control mechanism
Solution Approach 2:
The control system performs multiple functions including coordinate transformations, path corrections, and robot arm control within a single integrated unit, reducing the need for separate dedicated systems for each function and thereby managing complexity
Data Source
AI summary
A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.