Robot Coordinate Conversion Using Sensor-Based Planar Calibration
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Solution Overview
Problem
Existing robot systems face challenges in calibrating the sensor coordinate system with the robot coordinate system, especially when the sensor system is specialized for inspection and not designed for control tasks, leading to difficulties in using sensor data for robot control due to lack of compatibility and calibration capabilities.
Innovation Solution
A method involving a robot system with a sensor system and a robot controller that creates a conversion matrix to convert sensor-coordinated position data into robot-coordinated data, using multiple points and measured movement to establish a coordinate conversion in a plane with X and Y axes, allowing for calibration without sophisticated processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor system specialized for inspection is used, then inspection capability is improved, but compatibility with robot control coordinate system deteriorates
Solution Approach 1:
A conversion matrix serves as an intermediary between the sensor coordinate system and robot coordinate system. The matrix creation processing unit generates this conversion relationship based on correspondence between sensor-detected objects and robot-coordinate objects, enabling data from inspection-specialized sensors to be accurately transformed for robot control without requiring the sensor system itself to understand robot coordinates.
2Measurement precision
If traditional calibration methods are used, then coordinate alignment is achieved, but calibration time and complexity increase
Solution Approach 1:
The system uses a minimal set of correspondence data (just enough object position information from the sensor system and corresponding robot coordinate data) to create the conversion matrix, rather than requiring comprehensive calibration of the entire coordinate system. This partial action approach achieves sufficient alignment accuracy while dramatically reducing calibration time and complexity.
Solution Approach 2:
The robot controller itself performs the matrix creation processing using data from the sensor system and robot coordinate information, eliminating the need for external calibration equipment or complex calibration procedures. The system calibrates itself through automated processing of correspondence data.
Data Source
AI summary
This robot system includes a sensor system, a robot, and a robot controller, in which the robot controller recognizes a robot coordinate system but does not recognize a sensor coordinate system of the sensor system, and the robot controller creates a conversion matrix for carrying out coordinate conversion in a plane including an X-axis and a Y-axis on sets of position coordinates obtained by the sensor system based on the sets of position coordinates of a plurality of objects or points obtained by the sensor system and sets of position coordinates in an X-axis direction and a Y-axis direction in a robot coordinate system corresponding to the plurality of objects or points.