Manipulator Coordinate Calibration Across Multiple Workstations
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Solution Overview
Problem
Current methods for robot manipulators require repeated creation of coordinate systems and teaching points when moved between work stations, leading to reduced efficiency and precision due to inconsistencies in coordinate systems.
Innovation Solution
A coordinate calibration method using a 3D measuring device to establish a reference coordinate system, allowing the manipulator to adjust and maintain operation within this system upon return, eliminating the need for repeated coordinate system creation and teaching points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the manipulator is moved to different work stations by a movable carrier, then the manipulator can operate in multiple areas, but the coordinate system and teaching points must be created repeatedly, reducing work efficiency
Solution Approach 1:
The patent establishes a reference coordinate system in advance using a 3D measuring device before the manipulator moves to different work stations. This preliminary coordinate system creation eliminates the need for repeated coordinate system establishment and teaching point creation when the manipulator is relocated, thereby maintaining high work efficiency while enabling operation in multiple areas.
2Adaptability or versatility
If the coordinate system is created repeatedly for each work station, then the manipulator can adapt to different locations, but the time consumption increases significantly
Solution Approach 1:
The patent uses a 3D measuring device to capture and store the reference coordinate system as a digital model. When the manipulator moves to different work stations, the stored reference coordinate system is retrieved and applied, eliminating the need for physical re-measurement and re-creation of coordinate systems. This copying approach dramatically reduces the time required for adaptation to different locations.
3Adaptability or versatility
If the manipulator operates in different coordinate systems at different work stations, then it can be flexible, but the precision and consistency of operations decrease
Solution Approach 1:
The patent establishes a universal reference coordinate system that serves all work stations. The 3D measuring device creates this single reference coordinate system that can be applied across multiple locations, ensuring that the manipulator operates consistently in the same coordinate framework regardless of which work station it is at. This universal coordinate system maintains operational precision and consistency while enabling flexibility across different work stations.
Data Source
AI summary
A coordinate calibration method of a manipulator is provided and includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the reference anchor points reached by the manipulator; (b) acquiring a rotation matrix and a translation vector according to the reference anchor points, and acquiring a reference coordinate system accordingly; (c) when the manipulator returning to the work space after temporarily leaving, controlling the manipulator to move in accordance with the movement command, and acquiring the actual anchor points reached by the manipulator; (d) acquiring a rotation matrix and a translation vector according to the actual anchor points, acquiring a corresponding actual coordinate system accordingly, and acquiring a coordinate compensation information by comparing the rotation matrixes and the translation vectors; and (e) adjusting the manipulator according to the coordinate compensation information, and maintaining the manipulator to operate in the reference coordinate system.