Multi-Robot Calibration Using a Shared Reference Measurement
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Solution Overview
Problem
Existing calibration systems for robots require significant time when calibrating multiple robots installed in a process, as each robot needs to be calibrated individually, leading to prolonged overall calibration times.
Innovation Solution
A calibration system that includes a reference measuring element, a flange measuring element, a fixed measuring device, and a controller, which calculates the position and attitude relation between the flange measuring element and the reference measuring element to determine robot errors, allowing for on-line calibration of multiple robots simultaneously.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If each robot is calibrated individually using conventional offline calibration methods, then calibration accuracy is maintained, but the overall calibration time for multiple robots increases significantly
Solution Approach 1:
The patent merges multiple individual calibration processes into a single simultaneous calibration operation. By installing a common reference measuring element in the process and using it together with flange measuring elements on multiple robots, the system enables parallel calibration of multiple robots, thereby reducing total calibration time while maintaining accuracy through the shared reference standard
Solution Approach 2:
The reference measuring element serves multiple functions: it acts as a common reference for calibrating multiple different robots, enables both position and attitude calibration, and can be used by different robots simultaneously. This multi-functionality allows the system to maintain high calibration accuracy across multiple robots without requiring separate calibration procedures for each
2Productivity
If multiple robots are calibrated simultaneously using on-line calibration, then calibration time is reduced, but the system complexity increases due to the need for reference measuring elements and coordinated measurement
Solution Approach 1:
The reference measuring element acts as an intermediary that facilitates simultaneous calibration of multiple robots. By introducing this common reference element into the process, the system enables coordinated measurement and calculation of position and attitude relationships between multiple robots and the reference, achieving efficient parallel calibration without requiring complex direct inter-robot coordination
Solution Approach 2:
The patent replaces traditional mechanical calibration methods with an optical measurement system. By using a fixed measuring device (such as a laser scanner or camera system) to optically measure the positions of measuring elements on robots and the reference, the system achieves simultaneous calibration with reduced mechanical complexity and improved measurement precision
Data Source
AI summary
A calibration system that calibrates robots installed in a process includes: a reference measuring element; a flange measuring element attached to a flange provided at an arm tip of each robot; a fixed measuring device configured to measure the flange measuring element of each robot and the reference measuring element; and a controller configured to control the robots, calculate a position and attitude relation between the flange measuring element of each robot and the reference measuring element based on a measured result measured by the fixed measuring device, and calculate an error between a design installation position and attitude of each robot and an actual installation position and attitude of the robot by using the measured position and attitude relation and position and attitude data of the flange measuring element in a robot coordinate system at the time when the robot has been measured by the fixed measuring device.