Multi-Axis Robot Coordinate Conversion for Flexible Controller Interfaces
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Solution Overview
Problem
Current control systems for multi-axis robots lack efficient methods to convert operation commands from one coordinate system to another, limiting their ability to operate effectively across various types of robots and user interfaces.
Innovation Solution
A control system comprising a first controller that outputs operation commands and a second controller with a power output module, storage module for coordinate conversion programs, and a control processing module that converts operation commands to target values for the robot's joint axes using these programs, enabling seamless operation across different robots and user interfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a control system uses a fixed coordinate conversion method, then the control process is simple, but the adaptability to different robot types and user interfaces is poor
Solution Approach 1:
The control system is designed with a universal coordinate conversion capability that can handle multiple coordinate systems (robot coordinate system, user interface coordinate system, world coordinate system) through a unified conversion framework. This allows the same control system to work with different robot types and user interfaces without requiring separate dedicated systems for each case.
Solution Approach 2:
The patent introduces an intermediate coordinate conversion module that acts as a mediator between the user interface coordinate system and the robot coordinate system. This intermediate layer performs the actual coordinate transformations, allowing the control system to adapt to different coordinate systems without directly coupling the user interface with the robot control, thereby improving adaptability while maintaining manageable complexity.
2Adaptability or versatility
If the control system supports multiple coordinate systems, then the versatility improves, but the conversion accuracy and reliability may deteriorate
Solution Approach 1:
The coordinate conversion process incorporates feedback mechanisms where the control system validates conversion results and adjusts conversion parameters based on actual robot performance and positioning accuracy. This feedback loop ensures that even with multiple coordinate systems, the conversion accuracy is maintained through continuous verification and correction.
Solution Approach 2:
The system performs preliminary coordinate system calibration and conversion parameter setup before actual operation. By pre-configuring accurate conversion relationships between different coordinate systems and validating them through test operations, the system ensures high conversion reliability when supporting multiple coordinate systems.
Data Source
AI summary
A control system 1 includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module 240 that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.