Robot External Axis Coordinate Calibration Without Manual Setup
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Solution Overview
Problem
Manual calibration of external axes in industrial robots is time-consuming, laborious, and prone to errors due to human factors, leading to inconsistent results and increased personnel costs.
Innovation Solution
A method and electronic device for automatically calibrating external axes by obtaining positional data of reference points, determining transformation relationships, and controlling robots to process objects under a calibrated coordinate system, reducing human intervention and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual calibration is used, then operator flexibility and judgment can be applied, but calibration time increases, human errors occur, and consistency deteriorates
Solution Approach 1:
The calibration system performs self-calibration by automatically capturing images of the calibration object at different positions, processing the images through coordinate transformation algorithms, and determining the transformation relationship between coordinate systems without requiring manual operator intervention for each measurement step
Solution Approach 2:
The patent replaces manual mechanical measurement and calibration operations with an automated vision-based system that uses image capture, digital image processing, and computational coordinate transformation to determine the calibration parameters
2Ease of operation
If manual calibration is used, then complex judgment and adjustment can be performed, but labor costs increase and operational complexity increases
Solution Approach 1:
The patent introduces a calibration object with known geometric features as an intermediary between the measurement system and the external axis, enabling automatic feature detection and coordinate system determination without requiring direct manual measurement of the axis itself
Solution Approach 2:
The system creates a digital model of the calibration object by capturing images and processing them through coordinate transformation algorithms, using this digital copy to determine the transformation relationship between coordinate systems rather than requiring direct physical measurement
3Productivity
If automatic calibration is implemented, then calibration speed and consistency improve, but automation complexity increases
Solution Approach 1:
The calibration process is segmented into distinct automated stages: image capture at different positions, image processing to identify calibration object features, coordinate transformation calculation, and transformation relationship determination, with each stage executable by the control system
Solution Approach 2:
The system performs preliminary actions by pre-positioning the calibration object on the external axis before automation begins, and pre-programming the automated image capture and processing sequences, allowing the calibration to proceed automatically once initiated
Data Source
AI summary
A method and an electronic device for calibrating a robot. The method includes obtaining at least two sets of positional data of a first reference point in a base coordinate system of the robot, the first reference point fixedly arranged on the external axis, the at least two sets of positional data corresponding to at least two positions of the first reference point during movement of the external axis. The method includes determining a transformation relationship between the base coordinate system and an user coordinate system of the external axis according to the at least two sets of positional data, determining the calibrated user coordinate system based on the base coordinate system and the transformation relationship, and controlling the robot to process an object arranged on the external axis under the calibrated user coordinate system.