Inertial Sensor Displacement Correction for Robot Positioning Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In automatic operation systems, such as spot welding systems, displacement errors occur due to positioning deviations and deflections caused by load and external forces, leading to reduced productivity and quality, as existing systems lack a mechanism to detect and correct these displacements in real-time.
Innovation Solution
A displacement correcting method using inertial sensors attached to the positioning robot or working robot, which detects displacement amounts through inertial forces and corrects the positioning reference or operation position based on these measurements, enabling precise positioning and operation in automatic operation systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If visual confirmation and manual correction are used to detect and correct displacement errors, then positioning accuracy can be improved, but productivity decreases due to time-consuming manual intervention
Solution Approach 1:
The patent replaces the manual visual confirmation and correction process with an automated sensor-based detection and correction system. Position sensors detect displacement errors automatically, and the control unit processes this data to generate correction values, eliminating the need for manual intervention while maintaining positioning accuracy.
Solution Approach 2:
The patent implements a feedback mechanism where position sensors continuously monitor the actual positions of robots and tools, compare them with target positions, and feed this information back to the control unit. The control unit then generates correction values to adjust positions, creating a closed-loop system that automatically maintains accuracy without manual intervention.
2Device complexity
If no displacement detection mechanism is implemented, then device complexity remains low, but positioning accuracy deteriorates due to undetected displacement errors
Solution Approach 1:
The patent introduces position sensors as intermediary devices between the robots/tools and the control system. These sensors act as mediators that detect displacement errors and transmit this information to the control unit, which then generates correction values. This intermediary mechanism enables accurate displacement detection without requiring complex direct measurement systems.
3Manufacturing precision
If real-time displacement correction is implemented, then positioning accuracy is improved, but device complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The patent makes the control unit multi-functional by enabling it to perform both the original control functions and the additional displacement correction functions. The control unit processes sensor data, generates correction values, and adjusts robot/tool positions, consolidating multiple functions into a single device to minimize overall system complexity.
Solution Approach 2:
The patent implements a self-correcting system where the control unit automatically generates and applies correction values based on sensor feedback without requiring external intervention. The system serves itself by detecting its own positioning errors and correcting them autonomously, reducing the need for additional complex external correction mechanisms.
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
The method effectively detects and corrects displacement errors, improving the accuracy and efficiency of cooperative operations between positioning and working robots, thereby enhancing productivity and quality by allowing for real-time adjustment of positions.
Implementation Method 1
detecting a displacement amount of the holding tool from the positioning reference position based on an inertial force detected by the inertial sensor
Data Source
AI summary
In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.