Manipulator Tilt Compensation for Accurate Robot Positioning
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Solution Overview
Problem
Existing manipulator control systems fail to effectively correct the operation of a manipulator when the base tilts relative to a reference surface, leading to operational errors such as incorrect target positioning and collisions with obstacles.
Innovation Solution
A manipulator controller that includes a control unit capable of detecting tilt angles and outputting notifications when the tilt exceeds a predetermined value, along with a correction unit that adjusts the target position and obstacle positions based on the tilt angles to ensure accurate operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the manipulator operates without tilt correction on a sloping floor, then the operation speed is maintained, but the positioning accuracy deteriorates causing operational errors
Solution Approach 1:
The system changes the coordinate system parameters by detecting tilt angles and transforming target position coordinates from the base coordinate system to the world coordinate system, allowing accurate positioning despite base tilt while maintaining operation speed
Solution Approach 2:
The tilt sensor provides real-time feedback on base inclination, enabling the control unit to dynamically adjust target position calculations and maintain positioning accuracy without interrupting the operation flow
2Reliability
If the manipulator is controlled to reflect the tilt angle, then the positioning accuracy is improved, but the device complexity increases due to additional sensors and control processing
Solution Approach 1:
The tilt sensor acts as an intermediary device that provides tilt angle information to the control unit, which then uses this information to calculate corrected target positions, reducing the complexity burden on the main manipulator control system
Solution Approach 2:
The control system is segmented into independent functional modules: tilt detection module, coordinate transformation module, and manipulator control module, allowing each to operate independently and simplifying overall system management
3Ease of operation
If the manipulator reaches target positions without tilt compensation, then the operation simplicity is maintained, but harmful factors increase due to collisions with obstacles
Solution Approach 1:
The system performs preliminary coordinate transformation of target positions based on detected tilt angles before the manipulator executes movement, pre-compensating for tilt effects and preventing collisions without complicating the execution phase
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 proposed solution reduces operational errors by accurately correcting the target position and obstacle positions in real-time, preventing collisions and ensuring precise manipulator operations even when the base tilts.
Implementation Method 1
a tilt sensor that detects a tilt angle of the movable base with respect to a horizontal plane
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A manipulator controller (10) includes a tilt angle obtainer (30) that obtains a tilt angle of a movable unit (M) receiving a robot (RB) relative to a reference surface, a target position obtainer (32) that obtains a target position of the robot (RB) on the movable unit (M) having no tilt to the reference surface, a correction unit (36) that corrects, based on the tilt angle obtained by the tilt angle obtainer (30) and the target position obtained by the target position obtainer (32), the target position to a corrected target position in accordance with the tilt angle, and a control unit (38) that controls an operation of the robot (RB) based on the corrected target position.