Operation Apparatus Calibration Using Multiple Reference Positions
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Solution Overview
Problem
Existing calibration methods for operation apparatuses, such as industrial robots, face challenges in preventing interference with peripheral apparatuses and are prone to human error in selecting reference positions, limiting the arrangement of surrounding equipment and risking incorrect input of reference position information.
Innovation Solution
A calibration method that aligns a moving body unit with one reference position selected from multiple predetermined positions, using a detection unit to determine the pivot position and register reference position information, ensuring accurate alignment while avoiding interference with obstacles and reducing human error by automatically determining the correct posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If calibration is performed using a single predetermined reference position, then the calibration process is simple, but the operation apparatus may interfere with peripheral equipment and the arrangement of surrounding equipment is limited
Solution Approach 1:
The calibration method segments the calibration process into multiple reference positions (first reference position and second reference position) instead of using a single position. This allows the operation apparatus to be calibrated at different orientations, preventing interference with peripheral equipment while maintaining calibration accuracy.
Solution Approach 2:
The invention introduces a second reference position at a different orientation (e.g., rotated 90 degrees) from the first reference position. By utilizing this additional dimensional aspect (orientation/rotation), the system can perform calibration without interfering with peripheral equipment arranged in different spatial configurations.
2Ease of manufacture
If manual selection of reference position is used, then the calibration method is simple to implement, but human error in selecting and inputting reference position information occurs
Solution Approach 1:
The control unit automatically determines which reference position the operation apparatus is at by detecting the detection value from the detection unit and comparing it with predetermined determination parameter values. This feedback mechanism eliminates manual selection and input, preventing human error while maintaining ease of implementation.
Solution Approach 2:
The system performs self-determination of the reference position by automatically comparing detection values with predetermined values and selecting the appropriate reference position information. This self-service approach eliminates the need for manual intervention, ensuring both simplicity and accuracy.
3Adaptability or versatility
If multiple reference positions are used for calibration, then interference with peripheral equipment is prevented, but the calibration process becomes more complex
Solution Approach 1:
The control unit automatically determines the current reference position by detecting detection values and comparing them with predetermined determination parameter values. This automated feedback mechanism manages the complexity of multiple reference positions, making the calibration process as simple as executing the calibration routine without manual intervention.
Solution Approach 2:
The invention replaces manual mechanical selection and input of reference position information with an automated detection and determination system. The detection unit and control unit work together to automatically identify the reference position, substituting manual operations with automated electronic determination.
4Reliability
If automated determination of reference position is implemented, then human error is reduced, but the device complexity increases
Solution Approach 1:
The control unit performs multiple functions: it controls the moving body unit, reads detection values from the detection unit, determines the reference position by comparison, and selects the appropriate reference position information. This multi-functionality consolidates the automated determination process into an existing control unit, minimizing additional complexity.
Solution Approach 2:
The system uses its own existing detection unit and control unit to automatically determine the reference position without requiring external devices or complex additional systems. The control unit leverages its existing capabilities to perform detection, comparison, and determination, achieving high reliability with minimal added complexity.
Data Source
AI summary
There is provided for a calibration method for an operation apparatus. The operation apparatus comprises a first moving body unit capable of pivoting about a horizontally extending axis, a first driving unit configured to drive the first moving body unit, and a first detection unit configured to detect a pivot position of the first moving body unit. The method comprises aligning the first moving body unit to one reference position selected from a plurality of predetermined reference positions, determining the reference position by comparing a driving parameter value of the first driving unit at the one reference position with determination parameter values respectively preset for the plurality of reference positions, and registering, as reference position information for calculating the pivot position, position information of the one reference position determined in the determining and detection value information of the first detection unit.