Multi-Joint Robot Position Accuracy Mapping for Easier Teaching
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Solution Overview
Problem
Existing robot control systems lack efficient methods to accurately measure and correct position accuracy in multi-joint robots, particularly in varying operating areas and joint angles, leading to potential inaccuracies and difficulties in teaching and calibration processes.
Innovation Solution
A robot control device that stores position accuracy information at division points in a grid-shaped operating area or joint angle space, calculates current position accuracy using a position-accuracy calculation unit, and outputs this information to improve teaching efficiency by indicating accuracy levels and allowing for real-time adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If position accuracy is measured and corrected at multiple measuring points using D-H parameters, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
Position accuracy information is pre-calculated and stored at multiple division points in the operating area space before actual robot operation. When teaching or calibration is performed, the system directly retrieves and displays the pre-stored accuracy information at the current position, eliminating the need for real-time measurement and complex D-H parameter calculations during operation.
2Measurement precision
If position accuracy information is stored at multiple division points in grid-shaped operating area, then measurement precision is improved, but loss of time increases due to data retrieval
Solution Approach 1:
Position accuracy information is divided and stored at specific division points corresponding to different regions of the operating area space. The system retrieves only the local accuracy information relevant to the current robot position, rather than processing all position data, thereby reducing retrieval time while maintaining precision.
Solution Approach 2:
All position accuracy information at various division points is pre-calculated and stored in memory before operation. During teaching or calibration, the system simply retrieves the pre-stored information corresponding to the current position, eliminating computation time during actual use.
3Ease of operation
If position accuracy is calculated based on current end-effector position, then ease of operation is improved, but measurement precision may be compromised
Solution Approach 1:
The system uses pre-stored position accuracy information at division points as an intermediary to determine accuracy at the current end-effector position. Through interpolation or direct retrieval based on the current position coordinates, the system provides accurate position information without requiring complex real-time measurements, thus maintaining both ease of operation and measurement precision.
Data Source
AI summary
A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.