Robot Position Detection by Multi-Point Contact Probing
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Solution Overview
Problem
Existing methods for teaching robots a positional relationship with work objects require high-precision tactile sensors, leading to increased costs and complexity, and may necessitate frequent calibration due to potential precision deterioration.
Innovation Solution
A position detection method that uses a contacting structure on a robot arm to laterally position and contact multiple points on detection subjects on a target object, allowing for precise detection of the robot's position relative to the target object without the need for high-precision tactile sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a high-precision tactile sensor device is used to detect positional relationship, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the detection function from a complex tactile sensor and implements it using a simple contacting structure (probe) combined with position detection means. The contacting structure merely makes contact with the workpiece at multiple points, while the robot's own position detection system measures the probe's position, eliminating the need for complex tactile sensors.
Solution Approach 2:
The patent uses the robot's existing position detection system (which already exists for controlling robot movement) to also detect the position of the contacting structure. This copying of the detection function to a different, simpler implementation avoids the need for specialized high-precision tactile sensors.
2Measurement precision
If a high-precision tactile sensor device is used, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent extracts the detection function from an expensive tactile sensor and implements it using a simple contacting structure (probe) combined with position detection means. The contacting structure merely makes contact with the workpiece at multiple points, while the robot's own position detection system measures the probe's position, eliminating the need for complex tactile sensors.
Solution Approach 2:
The patent uses the robot's existing position detection system (which already exists for controlling robot movement) to also detect the position of the contacting structure. This copying of the detection function to a different, simpler implementation avoids the need for specialized high-precision tactile sensors.
3Measurement precision
If tactile sensor device is used for detection, then positional relationship can be detected, but calibration becomes necessary due to precision deterioration
Solution Approach 1:
The patent performs preliminary detection by having the contacting structure contact multiple predetermined points on the workpiece surface before actual work begins. This preliminary action establishes the positional relationship between the robot and workpiece, enabling subsequent work to proceed without repeated calibration.
Solution Approach 2:
The robot performs its own calibration by using its existing position detection system to measure the contacting structure's position at multiple points. The system is self-calibrating without requiring external calibration equipment or procedures, as the robot's own motion control system provides the measurement capability.
Data Source
AI summary
A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arm to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.