Robot Control Anisotropy via Marker Imaging Calibration
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Solution Overview
Problem
Existing robot arm control technologies fail to accurately align the robot's movement direction with the operator's guidance in real space, leading to misalignment between the intended and actual movement directions, especially when the robot's coordinate system differs from the reference coordinate system.
Innovation Solution
Incorporating a force detector and a drive part that adjusts the position relationship between a marker and an imaging unit, allowing the robot to be calibrated and controlled based on a specified coordinate relationship between the reference and robot coordinate systems, thereby providing anisotropy in the robot's action direction according to the real space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If gain is increased in the direction of movement action guidance, then the robot arm can be easily guided in that direction, but the robot arm moves in directions different from the intended guidance direction
Solution Approach 1:
The patent applies parameter changes by modifying the gain values in different directions based on the coordinate transformation relationship. Specifically, the control apparatus calculates transformation gains between the reference coordinate system and robot coordinate system, and applies anisotropic gain adjustment where the gain in the guidance direction is increased while gains in other directions are suppressed. This resolves the contradiction by making the ease of operation directional rather than uniform, ensuring that easy movement occurs only in the intended direction.
Solution Approach 2:
The patent implements local quality by applying different control characteristics to different spatial directions. The control apparatus identifies the specific direction of movement action guidance and applies enhanced gain only in that local direction, while maintaining or reducing gain in other directions. This creates direction-dependent ease of operation, allowing the robot arm to be easily guided in the intended direction without deviating to other directions.
2Adaptability or versatility
If the robot coordinate system differs from the reference coordinate system, then the robot can operate in its own coordinate framework, but misalignment occurs between real space directions and robot control directions
Solution Approach 1:
The patent uses coordinate transformation as an intermediary mechanism to bridge the reference coordinate system and robot coordinate system. The control apparatus calculates a transformation matrix that maps directions between the two coordinate systems, allowing the robot to operate independently in its own coordinate framework while maintaining accurate directional alignment with the reference coordinate system. This intermediary transformation resolves the misalignment issue without compromising coordinate system independence.
Solution Approach 2:
The patent applies parameter changes by dynamically adjusting control gains based on the coordinate transformation relationship. The control apparatus calculates transformation gains that account for the angular and spatial differences between coordinate systems, and applies these gain adjustments to ensure that movement guidance in the reference coordinate system correctly translates to the robot coordinate system, eliminating directional misalignment.
3Measurement precision
If anisotropic control is applied to match real space directions, then movement guidance accuracy improves, but control system complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-calculating the coordinate transformation relationship and storing it for later use. The control apparatus performs the coordinate transformation calculation once to establish the relationship between reference and robot coordinate systems, then uses this pre-established transformation for subsequent control operations. This eliminates the need for complex real-time calculations during operation, reducing control system complexity while maintaining high directional accuracy.
Data Source
AI summary
A robot includes a force detector, and a drive part that changes a position relationship between a marker and an imaging part. In the case with calibration processing of specifying a coordinate relationship as a correspondence relationship between a reference coordinate system with reference to a position of the marker and a robot coordinate system as reference of control of the drive part based on images of the marker captured by the imaging part in a plurality of the position relationships, the drive part is controlled to have anisotropy based on the coordinate relationship and a detection value of the force detector.