Robot Hand Position Correction Across Multiple Rotation Axes
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Solution Overview
Problem
Existing robot position correction methods, such as those described in U.S. Pat. No. 9,796,086 B2, are limited in their ability to accurately correct deviations across multiple rotation axes, which can impact the overall position control accuracy of robots with multiple axes.
Innovation Solution
A method that involves opposing a robot hand to a target in multiple initial postures, detecting rotation angles across parallel rotation axes, and calculating correction amounts for these axes to improve position control accuracy, specifically by adjusting the second and third axes' positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single pivot correction method is used, then the deviation on that single pivot can be corrected, but the position control accuracy of robots with multiple rotation axes cannot be sufficiently improved
Solution Approach 1:
The correction process is segmented into multiple independent correction operations, each targeting a specific rotation axis. The method performs correction for the first rotation axis, then the second rotation axis, and so on, through the nth rotation axis. This segmentation allows each axis to be corrected individually while maintaining the overall position control accuracy across all axes.
Solution Approach 2:
The invention extends the correction method from a single pivot (one-dimensional correction) to multiple rotation axes (multi-dimensional correction). By adding correction operations across multiple axes (first axis, second axis, ..., nth axis), the method transitions from correcting deviation in one dimension to correcting deviations in multiple dimensions, thereby improving overall position control accuracy.
2Adaptability or versatility
If multiple rotation axes are corrected using the single pivot method, then more axes can be addressed, but the correction accuracy for each individual axis may be compromised
Solution Approach 1:
The correction process is segmented into multiple independent correction operations, each targeting a specific rotation axis. The method performs correction for the first rotation axis, then the second rotation axis, and so on, through the nth rotation axis. This segmentation allows each axis to be corrected individually while maintaining the overall position control accuracy across all axes.
Solution Approach 2:
The method performs correction operations that may exceed the minimum required, by systematically correcting each rotation axis (first axis, second axis, ..., nth axis) individually. This excessive action ensures that even if some corrections are redundant, each individual axis receives dedicated correction attention, maintaining high accuracy for each axis while achieving multi-axis correction capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method enhances the position control accuracy of robots by accurately correcting the positions of multiple axes, improving the robot's ability to precisely align with targets and maintain accurate posture.
Implementation Method 1
a sensor that is configured to propagate detection light between the first front end and the second front end and to detect whether a target blocks the detection light
Data Source
AI summary
A position correction method includes: a step of opposing a hand to a target by moving the hand such that the hand becomes in a predetermined first initial posture; a first position detection step of detecting a position of the target from a rotation angle of a rotation axis when the target blocks a detection light by swinging the hand; a step of opposing the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture; a second position detection step of detecting a position of the target from the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on a difference between the position of the target acquired in the first initial posture and the position of the target acquired in the second initial posture.