Robot Arm Calibration Using Friction and CoM Estimation
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Solution Overview
Problem
Robots lack the sophistication to accurately and precisely execute complex tasks due to inadequate calibration, which affects their ability to mimic human interactions and control movements in environments like warehouses and retail settings.
Innovation Solution
A computing system that performs robot calibration by selecting specific joints or arm segments, generating movement commands, and receiving actuation and movement data to estimate friction and center of mass parameters, allowing for more accurate control of robot movements by accounting for physical properties such as friction and mass distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robot calibration is performed to improve movement accuracy and precision, then the robot can execute complex tasks with better precision, but the calibration process increases device complexity and requires additional computational resources
Solution Approach 1:
The robot performs self-calibration by using its own sensors and actuators to measure and determine friction parameters and center of mass without requiring external calibration equipment or human intervention, thereby improving precision while avoiding additional hardware complexity
Solution Approach 2:
The calibration process involves determining physical parameters (friction coefficients, center of mass locations) that are then used to adjust control commands, transforming the robot's operational parameters to achieve higher precision movements
2Reliability
If friction parameters and center of mass are determined through calibration to improve movement control, then the robot achieves better trajectory execution, but the calibration process requires additional time and computational resources
Solution Approach 1:
The robot performs calibration procedures in advance to determine friction parameters and center of mass before actual task execution, allowing the system to store these parameters for future use and reducing calibration time during operational phases
Solution Approach 2:
The calibration process is designed to be integrated with normal operational procedures, allowing parameter determination to occur during routine movements rather than requiring separate dedicated calibration sessions, thus maintaining continuous productive action
Data Source
AI summary
A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.