Robot Camera Vibration Compensation for Precise Assembly

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Solution Overview

Problem

Existing robot control systems are unable to accurately correct dynamic position errors during assembly or mounting processes, limiting their precision and efficiency.

Innovation Solution

A robot control system that includes a camera and a hand for gripping a first workpiece, a displacement generation mechanism between the robot tip and the camera, and control modules for providing instructions for positioning and compensating for vibration, allowing for more accurate positioning control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the robot moves at high speed to improve productivity, then assembly efficiency increases, but vibration occurs causing positioning accuracy to deteriorate

Engineering Contradiction:

Improveassembly efficiencyVSAvoidpositioning accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The vibration calculation module calculates the vibration amount in advance based on the robot's movement state before the camera captures the image. This preliminary calculation allows the displacement generation mechanism to pre-compensate for the vibration, ensuring accurate positioning even during high-speed assembly operations

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The displacement generation mechanism acts as an intermediary between the robot and the camera. It generates displacement in the opposite direction to the calculated vibration, effectively canceling out the vibration effect and maintaining positioning accuracy during high-speed operation

Inventive Principle:

Principle #24Intermediary (Mediator)

2Manufacturing precision

If a displacement generation mechanism is added to compensate for vibration, then positioning accuracy improves, but device complexity increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidsystem complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The system replaces complex mechanical vibration isolation structures with a computational approach. The vibration calculation module uses algorithms to determine vibration amounts based on robot movement states, and the displacement generation mechanism uses calculated values to generate compensating displacement, substituting mechanical complexity with computational simplicity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12304078B2Robot control system, control program, and control method

Publication Date: 2025.05.20 OMRON CORP

AI summary

A robot control system includes: a robot on which a camera and a hand for gripping a first workpiece are mounted; a displacement generation mechanism disposed between a tip of the robot and the camera; a first control module configured to provide the robot with a control instruction for causing the first workpiece to approach a second workpiece; a vibration calculation module configured to calculate magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece; and a second control module configured to provide the displacement generation mechanism with a control instruction for compensating for the vibration calculated by the vibration calculation module.