Robot Accuracy Measurement Using a Single Distance Sensor
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Solution Overview
Problem
Existing high-precision robot position and path measurement systems are costly, complex, sensitive to ambient lighting, and require qualified personnel, while low-cost systems are inaccurate and limited to single-point measurements, failing to provide pose accuracy, path accuracy, and dynamic characteristics.
Innovation Solution
A system and method using a compact, extendable measuring device with a single sensor to track robot movements, determining pose accuracy, path accuracy, and dynamic parameters by measuring the distance between a robot point and a reference point, employing a sensor, a relative displacement mechanism, and a processor to calculate deviations in radial, transverse, and tangential directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If high-precision measurement systems such as cameras or laser systems are used, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts only the essential measurement function from complex camera or laser systems by using a single distance sensor to measure the distance between a robot point and a reference point. This eliminates the need for multiple sensors and complex installations while maintaining measurement capability.
Solution Approach 2:
The patent replaces expensive high-precision measurement systems with a simpler, more cost-effective distance measurement system that uses basic sensors and simple mechanical structures, significantly reducing cost while providing adequate measurement precision for robot positioning.
2Measurement precision
If high-precision measurement systems are used, then measurement precision is improved, but ease of operation deteriorates due to requiring qualified personnel
Solution Approach 1:
The patent creates a self-contained measurement system where the distance sensor, extendable device with articulations, and processor work together automatically. The system self-calibrates and processes measurements without requiring external expert intervention, enabling operation by unskilled personnel.
Solution Approach 2:
The patent designs a universal measurement system that can measure robot position, path accuracy, and pose accuracy using a single integrated setup. The system is versatile enough to work with different robot configurations and working conditions without requiring specialized knowledge for each application.
3Device complexity
If low-cost measuring systems such as dial gauges are used, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent introduces an extendable device with articulations as an intermediary between the simple distance sensor and the robot point. This intermediary mechanism enables the sensor to reach and track moving robot points while maintaining measurement precision, bridging the gap between simplicity and accuracy.
Solution Approach 2:
The patent measures robot position and path accuracy by measuring distance along a line connecting a reference point and a robot point, rather than using complex multi-dimensional sensor arrays. This dimensional simplification reduces device complexity while maintaining measurement precision through geometric calculation of deviations.
4Ease of operation
If simple measurement systems are used, then ease of operation is improved, but measurement precision and capability deteriorate by only analyzing single-point accuracy
Solution Approach 1:
The patent uses the measured distance between the robot point and reference point as feedback to calculate robot position, pose accuracy, and path accuracy. The processor continuously processes distance measurements to determine deviations in radial, transverse, and tangential components, providing comprehensive accuracy analysis from a single measurement source.
Solution Approach 2:
The patent extracts multiple accuracy parameters (pose accuracy, path accuracy, radial deviation, transverse deviation, tangential deviation) from a single distance measurement by analyzing the geometric relationship between the reference point, robot point, and robot nominal position. This transforms a simple one-dimensional distance measurement into comprehensive multi-dimensional accuracy assessment.
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
Enables high-precision, cost-effective, and robust measurement of robot pose and path accuracy, suitable for unskilled personnel, in various working conditions, without requiring additional sensors or complex installations, and capable of analyzing large working spaces.
Implementation Method 1
a sensor for distance measurement, which may be linked by means of a conductive element to a conditioner
Data Source
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AI summary
A method comprising: tracking a robot, based on the distance between a robot point and a reference point. This distance is obtained by means of a sensor; an extendable type measuring device with an articulation at each of its ends, one for a robot point and the other for the reference point, which makes it possible to track the movements of a robot; a relative displacement and guidance mechanism to ensure the proper transmission of micromovements; the determination of the deviations of a robot with respect to a reference point, introducing the calculation according to embodiments. deviations of a robot from its nominal position, from the measurement between a robot element and a reference point; and obtaining the deviations in the movements of a robot, according to the path executed, from the projections of these deviations obtained according to the geometry held at each nominal position of the path.