Robot Arm Vision Control for Accurate 3D Pose Calculation
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Solution Overview
Problem
Existing control systems for robotic arms struggle to accurately calculate the position and pose of objects in three-dimensional space, limiting their precision and effectiveness in performing processes on workpieces.
Innovation Solution
A control apparatus and system that integrates multiple imaging devices with a robotic arm to capture both two-dimensional and three-dimensional data, allowing for precise calculation of object positions and poses in different coordinate systems, and generates control signals for the robotic arm based on this data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single imaging apparatus is used to capture the object, then the device complexity is reduced, but the measurement precision of object position and pose is insufficient
Solution Approach 1:
The patent combines a first imaging apparatus for capturing 2D images and a second imaging apparatus for capturing 3D shape data into a single integrated system. Both imaging apparatuses are mounted on the robotic arm and work together to provide comprehensive visual information, enabling accurate calculation of object position and pose while maintaining system integration
2Measurement precision
If multiple imaging apparatuses are mounted on the robotic arm, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The control apparatus is designed to handle multiple types of image data (2D images from the first imaging apparatus and 3D shape data from the second imaging apparatus) through a unified calculation process. The calculation unit integrates data from both imaging apparatuses and performs coordinate transformations to a common coordinate system, enabling the system to process diverse data types through a single multi-functional control unit
3Manufacturing precision
If 2D image data alone is used for position calculation, then the processing speed is maintained, but the manufacturing precision of robotic operations is insufficient
Solution Approach 1:
The patent transitions from using only 2D image data to incorporating 3D shape data from the second imaging apparatus. By adding this third dimension of information, the system can calculate both position and pose (including orientation) of the object with high accuracy. The calculation unit processes both 2D and 3D data together, performing coordinate transformations to a common coordinate system to enable precise robotic operations
Data Source
AI summary
A control apparatus, a control system, a robot system, a control method, and a computer program that is configured to generate a control signal for controlling a robot.