Robot-Work Machine Coordinate Alignment by Single-Contact Calibration
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Solution Overview
Problem
Existing techniques for acquiring the positional relationship between a robot and a working machine are cumbersome and inefficient, often requiring multiple point touches to establish the relative position.
Innovation Solution
A device and method that acquires the positional relationship by arranging the robot's hand-tip portion at a predetermined position and orientation relative to the working machine, using position and orientation data to calculate the positional relationship through contact with a known contact portion on the working machine.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple point touches are used to acquire positional relationship, then measurement precision is improved, but device complexity and operational time increase
Solution Approach 1:
A predetermined position and orientation are pre-set for the hand-tip portion relative to the working machine. This preliminary configuration allows the positional relationship to be acquired in a single contact operation, eliminating the need for multiple sequential point touches and significantly reducing operational time while maintaining measurement precision.
Solution Approach 2:
The patent changes the operational parameters from multiple discrete point contacts to a single contact at a predetermined position and orientation. By defining specific positional and orientational parameters in advance, the system achieves accurate positional relationship acquisition through one operation rather than multiple operations.
2Measurement precision
If multiple point touches are used to acquire positional relationship, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The predetermined position and orientation are established in advance, simplifying the operational process to a single contact action. This eliminates the complexity of coordinating multiple touch operations while preserving the accuracy benefits of precise positioning through the pre-defined parameters.
Solution Approach 2:
By transforming the process from multiple variable point contacts to a single contact at fixed predetermined parameters, the system reduces procedural complexity. The positional and orientational parameters are set once and reused, eliminating the need for complex multi-step measurement sequences.
3Loss of time
If single contact is used to acquire positional relationship, then operational time is reduced, but measurement precision may deteriorate
Solution Approach 1:
The predetermined position and orientation are carefully pre-configured to ensure they provide sufficient geometric information for accurate positional relationship calculation. This preliminary setup compensates for the single-contact limitation, maintaining measurement precision while achieving rapid one-step acquisition.
Solution Approach 2:
The predetermined position and orientation act as an intermediary framework that enables accurate measurement through single contact. By establishing this intermediate reference system, the patent bridges the gap between simplified single-contact operation and the need for precise multi-point measurement data.
Data Source
AI summary
A device for acquiring a positional relationship between a robot coordinate system set in a robot and a working machine coordinate system set in a working machine installed outside the robot, includes a position data acquisition unit that acquires, when a finger part of the robot is placed in a predetermined position and posture with respect to the working machine, first position data indicating the position and posture of the finger part with respect to the robot coordinate system, and second position data indicating the position and the posture of the finger part with respect to the working machine coordinate system; and a positional relationship acquisition unit that acquires third position data indicating the positional relationship using the first position data and the second position data.