Robot Grasp Error Correction for Processing-Area Accuracy
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Solution Overview
Problem
Grasping errors in robot arms when handling workpieces lead to inaccuracies in positioning and posture, affecting the precision of processing areas during assembly and manufacturing processes.
Innovation Solution
A method and apparatus for correcting grasping errors in multi-axis articulated arms by acquiring position information of workpiece areas, calculating grasping error values, and controlling the arm to prioritize correction of errors in the processing nearby area closest to the processing area, thereby improving positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If grasping error correction is performed for all areas of the workpiece, then overall positioning accuracy is improved, but calculation complexity and processing time increase
Solution Approach 1:
The patent applies local quality by differentiating the treatment of different workpiece areas. Instead of uniformly correcting grasping errors across all areas, the invention identifies a 'processing nearby area' (first area) that is closest to the processing area and prioritizes correction for this specific region. Other areas are corrected with lower priority or using simplified methods, thereby improving manufacturing precision where it matters most while reducing overall calculation complexity.
2Manufacturing precision
If multiple areas of the workpiece are measured and corrected, then comprehensive error elimination is achieved, but measurement and processing time increase
Solution Approach 1:
The patent applies preliminary action by pre-identifying and prioritizing the first area (processing nearby area) before full correction is performed. The system first determines which area is closest to the processing area, then performs accurate correction for this prioritized region. Subsequently, correction for other areas can be performed in stages or with reduced precision, significantly reducing total measurement and processing time while still achieving comprehensive error elimination across all areas.
Data Source
AI summary
A grasping error correction method includes a position information acquisition step of acquiring position information of a plurality of areas of a lower component 2, a grasping error value calculation step of calculating a grasping error value based on the position information at the time of the reproduction and the position information of the plurality of areas of the lower component 2 at the time of teaching, and an arm control step of controlling an operation of a multi-axis articulated arm 11a so as to correct the grasping error value. Further, in the grasping error value calculation step, the grasping error value is calculated so that a grasping error in a processing nearby area, which is one of the plurality of areas of the lower component 2 that is closest to the processing area, is preferentially eliminated over those in the other areas of the lower component 2.