Manipulator Tracking Control With Dual-Camera Workpiece Guidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional manipulator systems lack accuracy in performing tasks on workpieces moved by other devices, such as conveyors or positioners, due to inadequate detection of the workpiece's position and movement.
Innovation Solution
A manipulator system comprising a robotic arm with a tool, an operating device, a first imaging means for tracking the workpiece, a second imaging means fixed in the work area, and a control device that detects the workpiece's movement to enable precise tracking control, allowing the robotic arm to accurately follow and perform tasks on moving workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If synchronous instruction value is calculated based on present coordinates of slave arm hand part and speed setting value of conveyor, then the control system can operate the robotic arm, but the position of the workpiece on the conveyor cannot be accurately detected
Solution Approach 1:
A camera is introduced as an intermediary device to detect the workpiece position and movement on the conveyor. The camera captures images of the workpiece, and the control device calculates the workpiece position and movement amount based on these images, rather than relying solely on robotic arm coordinates and conveyor speed settings. This intermediary measurement system resolves the contradiction by providing accurate workpiece position detection independent of the control system's internal calculations.
Solution Approach 2:
The system implements feedback by continuously monitoring the workpiece position through camera imaging and using this information to adjust the synchronous instruction values. The control device calculates the workpiece movement amount based on sequential camera images and feeds this information back to update the robotic arm's tracking control, ensuring accurate position detection and correction of any deviations.
2Manufacturing precision
If the robotic arm tracks the moving workpiece, then the work accuracy improves, but the worker has difficulty operating the tool due to the moving image
Solution Approach 1:
The imaging function is segmented into two distinct systems: a first camera that tracks the workpiece to maintain accurate positioning, and a second fixed camera that provides a stable overview image for the operator. This segmentation allows the tracking function to operate independently without affecting the stability of the operator's view, resolving the contradiction between work accuracy and ease of operation.
Solution Approach 2:
The control device acts as an intermediary that processes images from both cameras and generates appropriate display outputs. It combines the tracking camera's accurate position data with the fixed camera's stable overview, presenting both perspectives to the operator simultaneously. This intermediary processing allows the operator to control the robotic arm using the stable fixed image while the tracking system independently maintains work accuracy.
3Measurement precision
If a single camera tracks the workpiece, then the workpiece position can be followed, but the operator cannot monitor the overall work situation
Solution Approach 1:
The imaging system is divided into two specialized cameras: the first camera dedicated to tracking the workpiece position with high precision, and the second camera providing a fixed overview of the entire work area. This segmentation ensures that the tracking function receives dedicated attention while the overview function is simultaneously maintained, preventing information loss about the overall work situation.
Solution Approach 2:
The control device merges the outputs from both cameras by displaying them simultaneously on the operator interface. The operator can view both the tracked workpiece position from the first camera and the overall work situation from the second camera at the same time, combining the benefits of precise tracking with comprehensive situational awareness without losing either type of information.
Data Source
AI summary
A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.