Robot Arm Axis Calibration via Reference-Mark Signal Detection
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Solution Overview
Problem
Conventional methods for calibrating robot arms require dedicated tools, leading to potential errors from mounting and removing these tools and involving complex manual processes.
Innovation Solution
A method that uses a sensor-equipped robot arm to detect changes in signal strength caused by a reference mark, allowing for automatic determination of the original point of the axis without the need for a dedicated calibrating tool, using either discrete or continuous signal patterns to identify the center or extremity of signal fluctuations as the typical position for calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dedicated calibrating tools are mounted on the robot arm for calibration, then calibration can be performed, but mounting and removing these tools introduces potential errors and increases operation complexity
Solution Approach 1:
The patent extracts the calibration function from dedicated external tools and integrates it into the robot arm's own sensor system. The sensor that is normally part of the robot arm is repurposed to detect the reference mark during calibration, eliminating the need to mount separate calibrating tools and thereby removing the errors and complexity associated with tool installation and removal.
Solution Approach 2:
The sensor on the robot arm serves dual purposes: it performs both normal operational sensing functions and calibration functions by detecting the reference mark. This multi-functionality eliminates the need for dedicated calibrating tools, simplifying the calibration process while maintaining accuracy.
2Measurement precision
If dedicated calibrating tools are used for robot arm calibration, then calibration can be performed, but the process requires manual intervention and is time-consuming
Solution Approach 1:
The robot arm performs calibration autonomously using its own integrated sensor to detect the reference mark. The system automatically determines the original point of the axis by processing the signal from the sensor, eliminating the need for manual calibration operations and significantly reducing calibration time while maintaining precision.
Solution Approach 2:
The sensor provides real-time feedback signals as the robot arm moves, allowing the system to automatically detect the reference mark position and determine the original point. This feedback mechanism enables automated calibration without manual intervention, reducing both time and human error.
3Measurement precision
If conventional calibration methods are used, then calibration can be performed, but dedicated tools must be mounted and removed which reduces productivity
Solution Approach 1:
The calibration function is extracted from external dedicated tools and integrated into the robot arm's own sensor system. This eliminates the need to mount and remove separate calibrating tools, allowing calibration to be performed quickly without interrupting the robot arm's operational readiness, thereby improving productivity.
Solution Approach 2:
The sensor is pre-integrated on the robot arm, ready to perform calibration at any time without requiring preliminary mounting of dedicated tools. The calibration can be initiated immediately when needed, eliminating the time loss associated with tool installation and removal procedures.
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
Enables easy, effective, and automatic calibration of robot arms without manual intervention, reducing errors and simplifying the calibration process by using various types of sensors and reference marks, such as active or passive sensors, and mechanical stops, allowing for accurate determination of original points for both movement and rotation axes.
Implementation Method 1
receiving, during a movement of the robot arm in an axis of the robot arm, a signal collected by a sensor equipped at a frame of the robot arm; detecting a change in strength of the received signal, the change being caused by an offset between a position of a reference mark equipped at the robot arm and a position of the sensor
Data Source
AI summary
Methods for managing a robot arm are disclosed. In one method, during a movement of the robot arm in an axis thereof, a signal collected by a sensor equipped at a frame of the robot arm is received. A change in strength of the received signal is detected, where the change is caused by an offset between a position of a reference mark equipped at the robot arm and a position of the sensor. An original point of the axis of the robot arm is determined based on the detected change. Further, robot systems, apparatuses, systems, and computer readable media for managing a robot arm in the robot systems are disclosed. The original point of the axis of the robot arm may be determined without a dedicated calibrating tool, and then the robot arm may be calibrated based on the original point accurately.