Robot Arm Control Parameter Reset for Tilt Compensation
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Solution Overview
Problem
Existing robot systems fail to accurately position a robot arm due to differences in posture and direction between the unmanned carrier and the workspaces, leading to misalignment of the control point despite proper control, as they do not account for the tilt of the carrier relative to the reference direction.
Innovation Solution
A control method for a robot system that includes a robot arm, a movable vehicle supporting the arm, and a tilt sensor to detect tilt relative to a reference direction, where the control parameters for positioning the control point are reset based on the detected tilt when the control point is located one point previous to an object target point, ensuring accurate placement at the object target point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot arm is controlled based on a fixed coordinate system without considering vehicle tilt, then the control system remains simple and fast, but the positioning accuracy deteriorates when the vehicle is tilted
Solution Approach 1:
The control parameters are reset in advance when the control point reaches a predetermined position (one point previous to the object target point), rather than waiting for tilt detection. This preliminary action ensures that the control parameters are already adjusted for the tilted coordinate system before the robot arm needs to position at the target point, resolving the contradiction by preparing the correction beforehand without adding complex real-time sensing requirements
Solution Approach 2:
The system uses tilt sensor feedback to continuously monitor the vehicle's tilt angle and dynamically adjusts the coordinate transformation parameters. This feedback mechanism allows the control system to adapt to changing tilt conditions while maintaining a relatively simple structure by only modifying the parameter calculation, not the entire control architecture
2Measurement precision
If the control parameters are reset at every target point, then positioning accuracy is maintained, but the response time and productivity deteriorate
Solution Approach 1:
The control parameters are reset only when the control point reaches a predetermined position (one point previous to the object target point), not at every target point. This selective timing of parameter reset maintains positioning accuracy for the critical object target point while minimizing interruptions to the work cycle, thus resolving the contradiction between precision and productivity
Solution Approach 2:
The system performs parameter reset partially (only at specific predetermined positions rather than continuously or at every point), which is sufficient to maintain accuracy for the object target point without the excessive action of resetting at every single target point, thereby optimizing the balance between precision and speed
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
This method ensures accurate positioning of the robot arm's control point at the intended target point even when the vehicle tilts relative to the assumed direction, enhancing the precision and reliability of the robot system's operations.
Implementation Method 1
a tilt sensor configured to detect a tilt relative to a reference direction of at least one of the robot arm and the vehicle
Data Source
AI summary
A robot system includes a robot arm, a vehicle being movable and supporting the robot arm, and a tilt sensor configured to detect a tilt relative to a reference direction of at least one of the robot arm and the vehicle. The control method includes controlling the robot arm to sequentially position a control point of the robot arm to a plurality of target points. The controlling of the robot arm includes, when the control point is located at the target point where the control point is to be located one point previously to an object target point of the plurality of target points, resetting a control parameter for positioning the control point at the object target point based on the tilt from the reference direction, and positioning the control point at the object target point using the reset control parameter.