Robot Arm Kinematics With Base Tracking for Precise End Effector Control
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Solution Overview
Problem
Existing systems for robot arms mounted on moving bases face challenges in accurately positioning the end effector due to relative movement between the robot base and the environment, leading to errors as the distance from the base increases.
Innovation Solution
A system that includes a robot base with a mounted robot arm and end effector, a tracking system to measure the robot base's position, and a control system that calculates the end effector path using a reference robot base position, determines the current robot base position, and generates control signals to move the end effector along the calculated path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm is mounted on a moving robot base to perform interactions within a physical environment, then the system gains mobility and adaptability to different locations, but positioning accuracy of the end effector deteriorates due to relative movement between the robot base and the environment
Solution Approach 1:
The system employs a tracking system to continuously monitor the robot base position and feeds this information back to the control system. The control system uses this feedback to calculate real-time corrections to the end effector path, compensating for base movement and maintaining positioning accuracy despite the mobile platform.
Solution Approach 2:
The system dynamically adjusts the end effector path based on real-time robot base position data. Rather than using a static pre-programmed path, the control system continuously recalculates the path coordinates by applying the current base position offset to the original path points, enabling the system to adapt to moving base conditions while maintaining interaction precision.
2Length of stationary object
If the distance from the robot base to the end effector is increased to expand working range, then the adaptability and coverage area improve, but positioning accuracy deteriorates due to amplified errors from base movement
Solution Approach 1:
The tracking system continuously provides feedback on the robot base position, enabling the control system to calculate and apply real-time correction offsets to the end effector path. This feedback mechanism compensates for base movement errors regardless of the arm length, allowing long-reaching end effectors to maintain positioning accuracy.
Solution Approach 2:
The system pre-calculates the end effector path based on the robot base position at the time of path generation. By establishing the path coordinates in advance relative to the base position, and then continuously updating this reference frame using tracking feedback, the system prepares the correction framework beforehand while maintaining real-time accuracy through continuous position updates.
Data Source
AI summary
A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.