Robot Arm Calibration via Unified Imaging Reference
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Solution Overview
Problem
Current robot arm calibration methods are inefficient and imprecise, especially when dealing with complex operations and high degrees of freedom, and require burdensome recalibration after mechanical changes, leading to reduced work efficiency and increased maintenance time.
Innovation Solution
A robot arm apparatus and calibration method that updates the internal model with geometric and focus position information of both the arm unit and imaging unit by pointing the imaging unit at a reference point in real space, allowing for precise calibration of the focus position and integrated calibration of both units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional separate calibration methods are used for the robot arm and imaging unit, then calibration can be performed, but the calibration process becomes complex and time-consuming
Solution Approach 1:
The patent combines the calibration processes of the robot arm and imaging unit into a single integrated calibration method. By using a unified calibration board that simultaneously calibrates both the robot arm's geometric parameters and the imaging unit's intrinsic and extrinsic parameters, the method eliminates the need for separate calibration procedures, thereby reducing overall complexity while maintaining precision
Solution Approach 2:
The calibration board serves multiple functions: it acts as a geometric reference for the robot arm calibration and simultaneously provides feature points for imaging unit calibration. This multi-functional approach allows a single device to replace multiple calibration tools, simplifying the overall calibration process
2Reliability
If traditional calibration methods are used, then calibration can be completed, but maintenance and recalibration after mechanical changes require significant time
Solution Approach 1:
The patent establishes a unified coordinate system and calibration model in advance that integrates both the robot arm and imaging unit parameters. This preliminary framework allows for rapid recalibration by simply re-measuring the calibration board, without needing to re-establish the entire calibration system, thus reducing recalibration time after mechanical changes
Solution Approach 2:
The method uses a unified calibration model where all parameters (robot arm geometric parameters and imaging unit parameters) are calibrated simultaneously through a single set of measurements from the calibration board. When recalibration is needed, only the measurement data needs to be updated, and the model automatically adjusts all parameters, significantly reducing the time required compared to sequential calibration methods
3Measurement precision
If the imaging unit is recalibrated separately after robot arm calibration, then both can be calibrated, but the process becomes burdensome and reduces work efficiency
Solution Approach 1:
The patent merges the calibration of the robot arm and imaging unit into a single simultaneous process using one calibration board. The calibration board contains features that allow extraction of both robot arm geometric information and imaging unit parameter information in one measurement session, eliminating the need for separate calibration steps and improving work efficiency
Solution Approach 2:
The calibration board creates a unified reference model that captures both the robot arm's coordinate system and the imaging unit's parameter system simultaneously. This single reference model serves as a copy of the complete calibration information needed for both components, replacing the need for multiple separate calibration references and procedures
Data Source
AI summary
A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.