Robot Arm Calibration via Replaceable Marker Unit

Solution Overview

Problem

Existing robot systems face challenges in achieving accurate calibration between the robot coordinate system and the image coordinate system due to the need for a large and heavy hand or marking device at the tip end of the robot arm, which increases vibration and reduces calibration accuracy.

Innovation Solution

A control device that allows a marker forming unit to replace the working unit on the robot arm, enabling correlation between the robot and image coordinate systems without the need for a working unit, using a marker forming unit such as a stamp or pressure-sensitive paper to form markers, thereby reducing vibration and improving accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a hand and marking device are provided at the tip end of the robot arm, then the robot can perform both calibration and work functions, but the tip end becomes very large and heavy, increasing vibration and reducing calibration accuracy

Engineering Contradiction:

Improverobot functionalityVSAvoidcalibration accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent divides the calibration function and work function into separate operations. During calibration, only the marker forming unit is attached to the robot arm, keeping it lightweight. The working unit is detached and stored separately. This segmentation allows the robot to achieve high calibration accuracy with minimal weight while still possessing full work capability when the working unit is attached.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent implements a dynamic configuration where the robot arm's end effector can be changed between operations. The marker forming unit is temporarily attached for calibration, then replaced with the working unit for actual work. This dynamic reconfiguration optimizes the system for each specific task, achieving light weight during calibration and full functionality during work execution.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If a hand and marking device are provided at the tip end of the robot arm, then the robot can perform both calibration and work functions, but the tip end becomes very large and heavy, increasing vibration and reducing calibration accuracy

Engineering Contradiction:

Improverobot functionalityVSAvoidrobot arm weight

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent divides the calibration function and work function into separate operations. During calibration, only the marker forming unit is attached to the robot arm, keeping it lightweight. The working unit is detached and stored separately. This segmentation allows the robot to achieve high calibration accuracy with minimal weight while still possessing full work capability when the working unit is attached.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent implements a dynamic configuration where the robot arm's end effector can be changed between operations. The marker forming unit is temporarily attached for calibration, then replaced with the working unit for actual work. This dynamic reconfiguration optimizes the system for each specific task, achieving light weight during calibration and full functionality during work execution.

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If a hand and marking device are provided at the tip end of the robot arm, then the robot can perform both calibration and work functions, but the hand becomes an obstacle at the time of calibration while the marking device becomes an obstacle at the time of work

Engineering Contradiction:

Improverobot functionalityVSAvoidcalibration ease

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent divides the calibration function and work function into separate operations. During calibration, only the marker forming unit is attached to the robot arm, keeping it lightweight. The working unit is detached and stored separately. This segmentation allows the robot to achieve high calibration accuracy with minimal weight while still possessing full work capability when the working unit is attached.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent implements a dynamic configuration where the robot arm's end effector can be changed between operations. The marker forming unit is temporarily attached for calibration, then replaced with the working unit for actual work. This dynamic reconfiguration optimizes the system for each specific task, achieving light weight during calibration and full functionality during work execution.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS10569419B2Control device and robot system

Publication Date: 2020.02.25 SEIKO EPSON CORP

AI summary

A control device comprising a processor configured to receive information on a captured image from an imaging device capturing an image from an operator, control a robot including a robot arm on which a stamp that forms a marker on an object and an end effector that performs work on a work target are allowed to be provided by being replaced, perform correlation between a robot coordinate system that is a coordinate system relating to the robot and an image coordinate system that is a coordinate system relating to the captured image, and perform the correlation based on a plurality of coordinates of a predetermined portion of the robot arm in the robot coordinate system and a plurality of coordinates of the plurality of markers in the image coordinate system when the plurality of markers are formed on the object by the stamp.