Robot Hand Grid Pattern Alignment for Vision-Free Gripping
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Solution Overview
Problem
Existing handling systems that rely on vision sensors for monitoring and correcting the position and orientation of robot hands during gripping operations are costly and time-consuming, hindering efficient and accurate gripping of complex or soft workpieces.
Innovation Solution
A control device that controls a robot arm with a robot hand equipped with a projection section to project a grid pattern on the workpiece and an imaging section to image this pattern, adjusting the robot hand's direction and position without vision sensors by ensuring the projected and imaged patterns are similar.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a vision sensor is used to monitor and correct the position and orientation of the robot hand during gripping operation, then the gripping accuracy is improved, but the system cost increases and the operation time increases
Solution Approach 1:
The patent extracts the vision sensing function from an external expensive vision sensor and relocates it to the robot hand itself through integrated projection and imaging sections. This allows the robot hand to independently acquire grid pattern images for position and orientation detection without relying on external vision sensors, thereby reducing system cost while maintaining gripping accuracy
Solution Approach 2:
The robot hand is designed with multi-functionality by integrating both projection section (to project grid patterns) and imaging section (to capture images) directly on the hand. This allows the same robot hand structure to serve both as the gripping tool and as the sensing device, eliminating the need for separate expensive vision sensors and reducing overall system complexity
2Measurement precision
If a vision sensor is used to monitor and correct the position and orientation of the robot hand during gripping operation, then the gripping accuracy is improved, but the operation speed decreases
Solution Approach 1:
The robot hand preliminarily acquires the grid pattern image and calculates position and orientation information before the gripping action is executed. By having the projection and imaging sections integrated on the hand, the sensing and calculation are performed in advance during the approach phase, allowing the gripping operation to proceed quickly without real-time sensor delays
Solution Approach 2:
The patent replaces the traditional optical-mechanical vision sensor system with a more efficient integrated system where the projection and imaging are performed by the robot hand itself. This substitution reduces the complexity of image acquisition and processing, enabling faster operation speeds while maintaining the precision needed for accurate gripping
3Measurement precision
If the robot hand directly faces the gripping target, then the gripping accuracy is improved, but the robot arm posture control complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the imaging section on the robot hand captures the grid pattern projected on the target, and the control device calculates the position and orientation based on this image. This feedback loop allows the robot arm to automatically adjust its posture to make the robot hand directly face the target, improving gripping accuracy while the control algorithm manages the complexity of posture adjustment
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
Enables accurate gripping of workpieces without vision sensors, reducing costs and operation time, and preventing damage to soft articles like food items.
Implementation Method 1
a projection section that projects a grid pattern on a gripping target
Implementation Method 2
an imaging section that images the grid pattern projected on the gripping target
Data Source
AI summary
In order to attain an object of achieving an accurate gripping operation without using a vision sensor, a control device adjusts a direction of a robot hand so that the robot hand directly faces a gripping target, by controlling a posture of a robot arm so that a grid pattern imaged by an imaging section and a predetermined grid pattern are similar.