Robot Coordinate Calibration Using Contact Measurement Targets
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Solution Overview
Problem
Current robot calibration methods based on image recognition lack the accuracy required for precise operations, particularly in complex operational spaces.
Innovation Solution
A robot control system that includes a controller, a spatial information acquiring unit, and a robot with a sensor and end effector, which acquires position information of the end effector relative to a measurement target within the operational space and corrects the coordinate system to enhance calibration accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If image recognition processing is used for robot calibration, then the calibration process is simplified and automated, but the measurement precision and calibration accuracy are insufficient for precise operations
Solution Approach 1:
A measurement target with a known coordinate system is introduced as an intermediary between the robot and the calibration process. The robot end effector physically contacts the measurement target, and the sensor detects position and load information. This intermediary enables precise measurement through direct physical interaction rather than relying solely on image recognition, thereby improving calibration accuracy while maintaining automation.
2Measurement precision
If direct position and load measurement is implemented, then calibration accuracy is improved, but the device complexity increases due to additional sensors and measurement targets
Solution Approach 1:
The sensor mounted on the robot end effector serves multiple functions: it detects position information of the end effector relative to the measurement target, measures load information during contact, and provides data for coordinate system correction. This multi-functionality reduces the need for separate dedicated measurement devices, thereby improving calibration accuracy while limiting the increase in device complexity.
Data Source
AI summary
A robot control device includes a controller configured to control a robot including a sensor and an end effector. The controller is configured to acquire position information of the end effector with respect to a measurement target disposed inside an operational space of the robot, and correct a coordinate system relating to operation of the robot based on the position information.