Robot End-Point Error Parameter Correction Using Target Mark Measurement
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Solution Overview
Problem
Articulated robots face numerous error factors, requiring a large number of interrelated error parameters to accurately calculate the position of a reference point, which is challenging due to the complexity of the robot mechanism and the need for extensive measurement data.
Innovation Solution
A robot system that includes a robot with multiple drive axes, a measurement device attached to the robot's distal end, a target mark in the workspace, and a robot controller capable of storing error parameters, calculating command values, acquiring position information, and correcting error parameters based on this information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large number of error parameters are used to compensate for positioning errors, then positioning accuracy is improved, but the complexity of parameter setting and calculation increases significantly
Solution Approach 1:
The patent extracts and separates the error parameter correction process into an independent automated function. The robot controller automatically acquires position information from the measurement device and calculates correction values for error parameters without requiring manual intervention, thus extracting the complexity from the user operation while maintaining high positioning accuracy
Solution Approach 2:
The robot system performs self-correction of error parameters through automated measurement and calculation. The robot controller automatically processes measurement data from the measurement device, calculates positioning errors, and updates error parameters without external intervention, enabling the system to service itself and eliminate complex manual parameter setting
2Reliability
If multiple three-dimensional measurement devices are used to ensure measurement coverage, then measurement reliability is improved, but the complexity of coordinate system alignment and error integration increases
Solution Approach 1:
The patent merges multiple measurement devices into a unified measurement system integrated with the robot controller. The controller automatically coordinates data from multiple measurement devices, aligns their coordinate systems, and integrates their measurements into a unified error correction process, maintaining measurement reliability while hiding the complexity of multi-device coordination from the user
3Measurement precision
If error parameters are corrected using traditional methods requiring extensive measurement data, then positioning accuracy is improved, but the time and resources required for calibration increase
Solution Approach 1:
The patent implements preliminary automated preparation for error parameter correction. The robot controller pre-configures the measurement system, automatically positions the robot to required measurement postures, and prepares the data acquisition process in advance, reducing the actual calibration time while ensuring sufficient measurement data is collected for accurate error parameter determination
Data Source
AI summary
Provided is a robot system with which it is possible to easily set an error parameter. The robot system according to an embodiment of the present disclosure comprises a robot, a measurement device attached to an end of the robot, a target mark fixed to a work space for the robot, and a robot control device for controlling the robot. The robot control device has: a parameter storage unit for storing a plurality of error parameters used to calculate the position of a reference point for the end of the robot; a command value generation unit for generating a command value indicating a required position or speed of a drive shaft of the robot, upon taking an error parameter into account; a position information acquisition unit for acquiring position information for the reference point on the basis of the relative position of the target mark measured by the measurement device relative to the measurement device and coordinate information for the target mark in a user coordinate system; and a parameter correction unit for correcting an error parameter on the basis of the command value and the position information.