Robot Calibration Control for High-Speed Trajectory Accuracy
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Solution Overview
Problem
Current laser processing systems face accuracy degradation due to vibrations and positional shifts caused by friction, backlash, and insufficient rigidity, requiring time-consuming manual calibration that can degrade the effectiveness of learning control.
Innovation Solution
A robot device with an operation control section, sensor, low-speed position information acquisition section, calibration section, and learning control section that automatically performs highly accurate calibration between the robot's world coordinate system and the sensor's coordinate system by capturing and analyzing operation trajectories at low speeds, allowing for precise correction of positional deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration is performed between robot and sensor coordinate systems, then calibration accuracy can be improved, but calibration time increases significantly
Solution Approach 1:
The system performs automatic calibration without manual intervention by having the robot autonomously move to predetermined positions and the control device automatically calculate coordinate transformation parameters, eliminating the need for manual calibration operations while maintaining high accuracy
Solution Approach 2:
The system pre-defines multiple predetermined positions and the calibration procedure before actual operation, allowing the robot to automatically execute the calibration sequence and enabling rapid, repeatable calibration processes
2Productivity
If learning control is performed with poor calibration accuracy, then productivity is maintained, but trajectory accuracy deteriorates
Solution Approach 1:
The system uses the sensor to detect actual robot positions and feeds this information back to the control device, which automatically adjusts the coordinate transformation parameters to compensate for deviations, thereby maintaining high trajectory accuracy without sacrificing productivity
Solution Approach 2:
The system dynamically adjusts coordinate transformation parameters based on detected positional deviations, automatically optimizing the calibration parameters to maintain high trajectory accuracy during learning control operations
3Productivity
If robot operates at high speed, then productivity increases, but positional deviation and vibrations increase
Solution Approach 1:
The sensor continuously detects the robot's actual position during high-speed operation, and the control device uses this feedback to calculate and apply real-time corrections, compensating for vibrations and positional deviations that occur at high speeds
Solution Approach 2:
The system pre-calculates correction amounts based on detected deviations and applies them in advance or in real-time, allowing the robot to maintain high speed operation while compensating for accuracy-degrading factors through automated correction
Data Source
AI summary
A robot device includes: a robot; an operation control section; a sensor configured to detect a value related to a position of a control target portion of the robot; a low-speed position information acquisition section configured to acquire low-speed position information of the control target portion; a calibration section configured to perform calibration between the sensor and the robot by using the low-speed position information and a command position; and a learning control section configured to learn a correction amount that reduces a deviation between operation described in an operation program and an actual operation of the control target portion, by using a detection value of the sensor that is acquired when the robot is operated in accordance with the operation program, the low-speed position information or the command position, and calibration data acquired through the calibration.