Mobile Robot Tracking Control for Large-Workpiece Accuracy
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Solution Overview
Problem
Current robotic systems face inefficiencies in high-accuracy operations due to the need for separate metrology devices for calibration, 'dry run' corrections for path deviations, and limitations in working envelope size, which are impractical for large workpieces and vary with workpiece variations.
Innovation Solution
A mobile robot with a tracker and dynamic working envelope that adjusts its end effector position based on real-time feedback while transporting across the workpiece, allowing continuous interaction and extending the workable area beyond its static reach, using a control system with a tracker and end effector controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a robot uses a fixed working envelope to interact with a workpiece, then the robot can maintain a stable operating range, but the robot cannot handle workpieces that exceed its static reach
Solution Approach 1:
The patent makes the robot's working envelope dynamic by coupling the robot to a mobile platform that can transport the robot across the ground. This allows the working envelope to move and expand beyond the static reach of the robot, enabling interaction with large workpieces that would otherwise be inaccessible.
2Manufacturing precision
If a separate metrology device is used to calibrate the robot, then the robot accuracy can be verified, but the assembly process is held up and efficiency is reduced
Solution Approach 1:
The patent merges the metrology device with the mobile robot platform, integrating the tracking and calibration functions into the robot itself. This eliminates the need for separate calibration steps and allows continuous operation while maintaining accuracy through real-time feedback from the tracker.
3Manufacturing precision
If a 'dry run' is performed to correct path deviations, then the robot path accuracy can be improved, but the process duration increases and workpiece variations are not accounted for
Solution Approach 1:
The patent implements real-time feedback tracking during the actual interaction process, rather than requiring preliminary dry runs. The tracker continuously monitors the robot's position and the workpiece features, providing real-time correction data that accounts for workpiece variations as they occur, eliminating the need for time-consuming pre-calibration runs.
4Area of stationary object
If multiple robots are used to handle large workpieces, then the work coverage is increased, but the system complexity and cost increase
Solution Approach 1:
The patent makes a single robot universal by coupling it to a mobile platform, allowing one robot to perform the work of multiple stationary robots. The mobile platform enables the robot to reach different areas of large workpieces sequentially, providing the same work coverage as multiple robots but with a single unit.
Data Source
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AI summary
A mobile robot 1 is disclosed. The mobile robot is for interacting with a workpiece 100 as the mobile robot transports across the ground relative to the workpiece. The mobile robot comprises: a tracker 3 for tracking the workpiece; an end effector 5 for interacting with the workpiece based on feedback from the tracker; and a control system 7. The control system is configured such that when the mobile robot is transporting in a transporting direction 99 across the ground relative to the workpiece such that the tracker is tracking a first region of the workpiece, the control system causes the mobile robot to adjust according to the feedback from the tracker and effect a position of the end effector when interacting the end effector with the second region of the workpiece.