Robot Arm Tip Calibration Using Collective and Independent Axis Measurement
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Solution Overview
Problem
Existing robot calibration methods face inefficiencies when attempting collective calibration of all joint axes, particularly in robots with complex structures, leading to increased numbers of jigs and calibration steps.
Innovation Solution
A method and device for calibrating an articulated robot's arm tip by measuring relative positional relationships between links and the base, allowing for both collective and independent calibration of joint axes using reference surfaces and gauges, enabling efficient calibration even in challenging configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collective calibration of all joint axes is attempted in robots with complex structures, then calibration completeness is improved, but device complexity and number of calibration steps increase
Solution Approach 1:
The calibration process is divided into two independent parts: collective calibration for multiple joint axes using a single jig, and independent calibration for remaining joint axes. This segmentation allows the calibration system to handle complex robot structures by breaking down the calibration task into manageable segments, reducing the overall complexity while maintaining completeness.
Solution Approach 2:
A single jig is designed to perform collective calibration for multiple joint axes simultaneously. This multi-functional jig eliminates the need for separate jigs for each joint axis, reducing the number of calibration devices required while achieving comprehensive calibration coverage for robots with complex structures.
2Adaptability or versatility
If axis-by-axis calibration is performed using single-axis jigs, then adaptability to complex robot structures is improved, but the number of jigs and calibration steps increases
Solution Approach 1:
Multiple calibration functions are merged into a single jig that can perform collective calibration for multiple joint axes. This combination reduces the total number of calibration steps required while maintaining the adaptability to handle various robot configurations, as the unified jig can be applied across different joint axes without requiring multiple specialized devices.
Solution Approach 2:
The system performs collective calibration for at least two joint axes using a single jig, which is more than the traditional single-axis calibration approach. This partial collective calibration reduces the number of calibration steps compared to complete axis-by-axis calibration, while still providing sufficient calibration coverage for complex robot structures.
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 approach allows for efficient calibration of joint axes, reducing the size and number of calibration members and steps, thereby improving calibration efficiency and applicability to robots with complex structures.
Implementation Method 1
a gauge which contact-measures relative positions and relative postures between the first reference surface and the second reference surface
Implementation Method 2
a measuring instrument which measures a relative positional relationship between the base and a link connected to the base, or a measuring instrument which measures a relative positional relationship between the first link and another link connected to the at least three links
Implementation Method 3
a processor which calibrates the position of the arm tip based on measurement results of the gauge and measurement results of the measuring instrument
Data Source
AI summary
Provided is a robot calibration method for calibrating a position of an arm tip of a robot, the method including measuring a relative positional relationship between a first link and a second link on opposite ends of at least three links which are connected to each other so as to execute collective calibration for at least two joint axes between the at least three links, measuring a relative positional relationship between a base and a link connected to the base to execute independent calibration for a joint axis between the base and the link, or measuring a relative positional relationship between the first link and another link as to execute independent calibration for a joint axis between the first link and the other link, and calibrating the position of the arm tip based on the collective and the independent calibrations.