End Effector Calibration for Adjustable Member Position Tracking
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Solution Overview
Problem
Robotic manipulators face challenges in accurately determining the location of adjustable members, leading to potential collisions and damage due to outdated location data, as the new position is not stored in the robotic manipulator's memory.
Innovation Solution
A calibration system comprising a docking stand, an end effector with a movable adjustable member, a computational system, and a measurement instrument that interacts with a reference surface to determine and store the adjustable member's location within a three-dimensional coordinate system, using a processor to analyze and compare images or signals for accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the adjustable member is moved relative to the frame without storing the new location, then the end effector maintains operational flexibility, but the robotic manipulator loses accurate location information leading to potential collisions and damage
Solution Approach 1:
The system implements feedback by continuously monitoring the adjustable member's position using a measurement instrument and storing location data in memory. The processor compares current position data with stored data to detect movements, ensuring the robotic manipulator always has accurate location information to prevent collisions while maintaining operational flexibility.
Solution Approach 2:
The system performs preliminary action by pre-storing location data of the adjustable member in memory before the robotic manipulator operates. This allows the manipulator to have advance knowledge of the adjustable member's position, enabling safe and accurate operations while maintaining adaptability.
2Productivity
If the robotic manipulator uses stored location data, then operations are efficient, but collisions occur when the adjustable member has moved to a new position
Solution Approach 1:
The measurement instrument continuously provides feedback on the adjustable member's actual position to the processor. This real-time feedback mechanism ensures that the robotic manipulator operates with current location data, maintaining high productivity while eliminating collision risks associated with outdated stored information.
Solution Approach 2:
The system replaces reliance on static mechanical position storage with dynamic optical/electronic measurement and data processing. The measurement instrument and processor substitute for traditional mechanical position memory, enabling real-time position tracking that maintains operational efficiency while preventing collisions.
3Measurement precision
If a measurement instrument is added to track the adjustable member's location, then location accuracy improves, but system complexity increases
Solution Approach 1:
The measurement instrument serves multiple functions: it tracks the adjustable member's position, provides data to the processor for comparison with stored information, and enables both real-time monitoring and historical analysis. This multi-functionality achieves high measurement precision while minimizing the addition of separate complex subsystems.
Solution Approach 2:
The system merges the measurement instrument, processor, and memory into an integrated control system. By combining these components into a unified architecture rather than separate systems, the patent achieves precise location determination while managing overall system complexity through consolidation.
Data Source
AI summary
A calibration system includes a docking stand fixed within a three-dimensional coordinate system and an end effector supported by the docking stand. The end effector includes a frame received by the docking stand and an adjustable member movable along the frame. The adjustable member includes a clamp and a reference surface. The calibration system includes a computational system including at least one processor and at least one non-transitory computer-readable medium including instructions. The calibration system includes a measurement instrument in electronic communication with the computational system. The measurement instrument is movable and is arranged to interact with the reference surface and transmit a signal to the processor. The processor is programmed to analyze a location of the measurement instrument within the three-dimensional coordinate system and the interaction between the measurement instrument and the reference surface to determine a location of the adjustable member within the three-dimensional coordinate system.