Robot Coordinate Interpolation for Axis Deformation Alignment
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Solution Overview
Problem
Existing robot systems face challenges in accurately determining and setting a robot coordinate system when the axis along which the robot is moved deforms, leading to deviations in position and orientation.
Innovation Solution
An apparatus and method that calculate the position of another robot coordinate system by interpolating between two preset robot coordinate systems, allowing for accurate alignment even when the axis deforms, using a coordinate system acquisition section to determine the position and orientation of the new coordinate system based on the positions and orientations of the preset systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot coordinate systems are manually set at multiple positions along the axis, then the accuracy of position determination can be improved, but the complexity of the setting process and the time required increase
Solution Approach 1:
The patent uses interpolation to calculate intermediate coordinate system positions based on two preset coordinate systems, effectively copying and extrapolating the coordinate relationships rather than manually setting each position. This reduces the complexity of the setting process while maintaining accuracy.
Solution Approach 2:
The patent presets only two robot coordinate systems at predetermined positions along the axis, and then uses interpolation to automatically determine all other coordinate systems. This preliminary action approach significantly reduces the manual setting workload while ensuring accurate position determination throughout the axis range.
2Reliability
If more robot coordinate systems are preset along the axis to account for deformation, then the accuracy can be improved, but the time and complexity of the setting process increase
Solution Approach 1:
The patent calculates intermediate coordinate systems by interpolating between two preset systems, copying the coordinate relationships mathematically rather than physically setting each point. This maintains reliability under deformation conditions while significantly reducing the time required for setup.
Solution Approach 2:
The patent changes the approach from setting multiple discrete coordinate points to using continuous interpolation based on two reference points. This parameter change allows the system to adapt to axis deformation dynamically while minimizing the initial setting time and complexity.
3Adaptability or versatility
If manual measurement and setting of coordinate systems is performed, then flexibility can be maintained, but automation and efficiency are reduced
Solution Approach 1:
The patent automatically copies and calculates coordinate system positions through interpolation based on two preset reference systems. This maintains the adaptability to handle various positions along the axis while achieving full automation of the coordinate system setting process, eliminating manual measurement and setting operations.
Data Source
AI summary
An apparatus capable of accurately determining a robot coordinate system of a robot configured to be moved along an axis. The apparatus of setting the robot coordinate system of the robot configured to be moved along a first axis includes a coordinate system acquisition section configured to determine, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation. Further, a method of setting a robot coordinate system of a robot configured to be moved along a first axis includes determining, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation.