Robot Calibration Using Coordinate Transformation and Dual Optimization
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Solution Overview
Problem
Conventional robot calibration methods face challenges in matching coordinate systems during position-based calibration and fail to calibrate certain parameters, such as length errors, in distance-based calibration.
Innovation Solution
A robot calibration system that uses a measuring device to collect position data, optimizes distance-based parameters, specifies the robot coordinate system, converts measured position data, and performs position-based parameter optimization to align the coordinate systems and adjust robot parameters for accurate movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position-based calibration is performed to improve pose accuracy, then position precision is improved, but coordinate system matching becomes difficult
Solution Approach 1:
The patent introduces an intermediary coordinate transformation process that mediates between the robot coordinate system and the measurement coordinate system. A transformation matrix is computed to map points between these two coordinate systems, serving as an intermediary that simplifies the matching process while maintaining high position precision in pose accuracy calibration.
2Device complexity
If distance-based calibration is used to avoid coordinate system matching, then coordinate system complexity is reduced, but certain parameters cannot be calibrated
Solution Approach 1:
The patent merges distance-based calibration and position-based calibration into a unified calibration system. The distance-based calibration provides initial parameter optimization while position-based calibration refines pose accuracy, combining the advantages of both methods to achieve complete parameter calibration without coordinate system matching complexity.
Solution Approach 2:
The patent performs distance-based parameter optimization as a preliminary action before position-based calibration. This preliminary calibration of distance parameters prepares the system for subsequent position-based calibration, ensuring that certain parameters are calibrated beforehand to enable complete parameter optimization.
3Manufacturing precision
If multiple calibration methods are integrated to improve calibration completeness, then parameter calibration is improved, but calibration process complexity increases
Solution Approach 1:
The patent segments the calibration process into distinct modules: distance-based parameter optimization, coordinate system transformation, and position-based parameter optimization. Each module handles specific calibration tasks independently, improving parameter calibration completeness while managing process complexity through structured segmentation of calibration functions.
Data Source
AI summary
A method and system are disclosed herein. The system includes a measuring device detecting a position and a travel distance of movement of the robot, a communication circuit, a memory, and a processor. The processor implements the method, including: specifying a robot coordinate system of the robot based on the measured position data, generating, using the processor, robot reference position data by converting the measured position data based on the specified robot coordinate system, performing, using the processor, position-based parameter optimization based on the robot reference position data, and storing, using a memory, a parameter optimized through the position-based parameter optimization; and transmitting, using a communication circuit, the stored optimized parameter to the robot to actuate movement of the robot based on the stored optimized parameter.