End Effector TCP Compensation for Robotic Tool Placement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional robotic systems in manufacturing exhibit inaccuracies in tool placement due to mechanical limitations, leading to deviations in machining processes, which cannot be fully compensated by static measurement systems, resulting in variations beyond acceptable tolerances.
Innovation Solution
A robotic system executes a primary control plan defining a tool path with pre-defined TCP positions and a secondary control plan that modifies operations based on deviations between planned and actual TCP positions, allowing independent adjustments to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the primary control plan is modified to account for deviations, then tool placement accuracy improves, but system complexity and reprogramming effort increase
Solution Approach 1:
The patent divides the control system into two independent plans: the primary control plan that handles tool path and positioning, and the secondary control plan that handles tool operations and compensates for deviations. This segmentation allows each plan to remain relatively simple while the secondary plan dynamically adjusts based on measured deviations
Solution Approach 2:
The system performs preliminary measurement of actual TCP positions during the execution of the primary control plan, and uses this information to prepare and apply compensations in the secondary control plan before critical operations occur, ensuring accuracy without requiring complete reprogramming
Data Source
AI summary
One embodiment comprises a method of operating a robotic system. The method comprises defining a Tool Center Point (TCP) for an end effector of the robotic system, providing a primary control plan that defines a tool path for the end effector, where the tool path has a plurality of pre-defined TCP positions. The method further comprises providing a secondary control plan that defines operation of the end effector at the plurality of pre-defined TCP positions, and determining a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system. The method further comprises modifying the secondary control plan for the end effector based on the deviation during the implementation of the primary control plan by the robotic system.