Robot Calibration Using Three Reference Objects for Program Adaptation
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Solution Overview
Problem
Reprogramming industrial robot programs to adapt to changes in the position and orientation of work objects is time-consuming and expensive, as it typically requires complex calibration processes.
Innovation Solution
A method involving the use of at least three non-collinear calibration objects with a fixed relation to the target object, where data on their positions and orientations are obtained in two states, and a transformation relationship is determined to adjust the robot program, allowing the robot to operate under a calibrated object coordinate system without the need for a complex calibration camera.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a complex calibration camera is used to adapt robot programs to changes in work object position and orientation, then the robot program can be adjusted, but the device complexity and cost increase significantly
Solution Approach 1:
The patent extracts the essential calibration function from the complex calibration camera system by using only simple calibration objects (spheres, cubes, cylinders) whose geometric features can be easily detected. This removes the need for complex calibration cameras while retaining the core adaptability function.
Solution Approach 2:
The patent uses simple, inexpensive calibration objects (spheres, cubes, cylinders) instead of expensive calibration cameras. These basic geometric objects are cheap to manufacture and can be easily replaced or repositioned, providing cost-effective adaptability.
2Adaptability or versatility
If traditional reprogramming methods are used to adapt to changes in work object position and orientation, then the robot can follow new instructions, but the time and cost required for reprogramming increase
Solution Approach 1:
The patent performs preliminary calibration by establishing the relationship between the robot coordinate system and work object coordinate system using simple geometric objects before actual processing. This preliminary setup enables quick adaptation to position and orientation changes without time-consuming reprogramming.
Solution Approach 2:
The patent changes the calibration approach from complex camera-based parameter extraction to simple geometric parameter measurement using basic objects. By measuring positions and orientations of spheres, cubes, and cylinders, the system quickly adapts to changes in work object configuration without extensive reprogramming time.
3Device complexity
If simple calibration objects are used instead of a calibration camera, then the device complexity is reduced, but the measurement precision may be affected
Solution Approach 1:
The patent applies local quality by using different simple geometric objects (spheres, cubes, cylinders) positioned at specific locations on the work object. Each object's unique geometric features provide localized measurement references that, when combined, achieve overall high measurement precision for position and orientation.
Solution Approach 2:
The patent uses three-dimensional geometric features of spheres, cubes, and cylinders to establish spatial relationships. By utilizing the 3D properties of these simple objects rather than 2D camera images, the system achieves accurate position and orientation measurement with reduced device complexity.
Data Source
AI summary
A method, an electronic device, and a computer readable storage medium for calibrating a robot. The method includes obtaining a first set of data related to at least one of position and orientation of at least three calibration objects. The method includes determining a second set of data related to at least one of position and orientation of the at least three calibration objects when the target object is in a second state different from the first state; determining a transformation relationship between the first set of data and the second set of data; determining a calibrated object coordinate system based on the object coordinate system and the transformation relationship; and controlling the robot to process the target object in a predetermined way under the calibrated object coordinate system.