Robot Motion Compensation Calibration Error Detection
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Solution Overview
Problem
Conventional robot systems often fail to accurately implement visual sensor-based motion compensation due to setting errors, leading to unintended robot motion.
Innovation Solution
A robot system that captures multiple images of a target at different locations, uses calibration data to determine the target's position in both image and robot coordinate systems, and assesses the difference between these positions to detect and correct for any abnormalities in motion compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual sensor-based motion compensation is implemented using calibration data, then the robot can perform operations with respect to the position of the detected target, but setting errors cause the robot to make unintended motion
Solution Approach 1:
The system captures images at multiple robot positions, calculates the target position from each image using calibration data, and compares the calculated positions. The difference between positions serves as feedback to detect abnormalities in motion compensation. When the difference exceeds a threshold, the system identifies a setting error and prevents incorrect operations.
Solution Approach 2:
The system performs preliminary verification of motion compensation settings by capturing images at multiple predetermined positions before actual operations. This preliminary action detects potential setting errors in advance, preventing unintended robot motion during subsequent operations.
2Adaptability or versatility
If the robot system uses calibration data to transform target position from image coordinate system to robot coordinate system, then motion compensation can be implemented, but setting errors lead to incorrect motion compensation
Solution Approach 1:
The system verifies the accuracy of coordinate system transformation by calculating the target position from multiple images captured at different robot positions and comparing these calculated positions. The comparison provides feedback on whether the calibration data and transformation process are correct, detecting setting errors that would otherwise lead to inaccurate motion compensation.
Data Source
AI summary
A robot system is provided which can suitably perform robot movement correction. The robot system is provided with: a visual sensor which captures a first image of a target with the robot in a prescribed position and which captures a second image of the target with the robot in the position resulting from moving the robot a prescribed distance from the aforementioned prescribed position; a calibration data storage unit which stores calibration data that associates the robot coordinate system of the robot and the image coordinate system of the visual sensor; a first acquisition unit which, on the basis of the first image and the calibration data, acquires a first position of the target in the robot coordinate system; a second acquisition unit which, on the basis of the first image and the second image, acquires a second position of the target in the robot coordinate system; and a determination unit which determines whether or not the difference between the first position and the second position is within a prescribed range.