Robot Calibration Control Using Variable-Density Operating Space Mapping
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Solution Overview
Problem
Current robot calibration processes are time-consuming and inefficient, requiring additional effort and time, especially in complex operating spaces.
Innovation Solution
A robot control device and method that execute a first calibration in a lower-density calibration range and a second calibration in a higher-density range within the operating space, allowing for reduced calibration time and improved accuracy by adjusting the robot's position and posture using depth information and sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a uniform high-density calibration is performed throughout the entire operating space, then calibration accuracy is improved, but calibration time increases significantly
Solution Approach 1:
The patent applies local quality by performing high-density calibration only in specific regions (second calibration range) where higher accuracy is needed, while using lower-density calibration in other regions (first calibration range). This allows the system to achieve high calibration accuracy in critical areas without the time penalty of uniform high-density calibration across the entire operating space.
Solution Approach 2:
The calibration space is segmented into multiple calibration ranges with different density requirements. The patent divides the operating space into a first calibration range with lower density and a second calibration range with higher density, allowing differential calibration strategies to be applied to different segments based on their specific accuracy requirements.
2Measurement precision
If calibration density is increased throughout the entire operating space, then calibration accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements local quality by applying different calibration densities to different spatial regions. High-density calibration is applied only where necessary (second calibration range), while low-density calibration suffices for other areas (first calibration range), thereby achieving high accuracy where needed without the complexity of uniformly high-density calibration system-wide.
Solution Approach 2:
The calibration system dynamically adjusts density based on spatial location and operational requirements. The controller automatically selects appropriate calibration ranges and densities based on the robot's current position and the specific task requirements, making the calibration process adaptive rather than static and uniformly complex.
Data Source
AI summary
A robot control device includes a controller. The controller executes a first calibration of a robot in at least one first calibration position included in a first calibration range set in an operating space of the robot and executes a second calibration of the robot in at least one second calibration position that is included in a second calibration range defining part of the first calibration range and that is set with a higher density than the at least one first calibration position.