Robot Hand Position Correction During Arm Motion

The patent applies preliminary action by measuring the position and orientation of the operation target immediately before grasping, using a distance detector on the hand. This allows the measurement to be completed in advance, avoiding time loss during the grasping operation itself. The system calculates the required hand movement amount based on this preliminary measurement and automatically adjusts the hand position, eliminating the need to slow down the cycle for post-grasping measurements.

The patent replaces the mechanical hitting method with a non-contact measurement system. Instead of making the operation target hit an object to determine position and orientation, the system uses a distance detector (optical sensor) mounted on the hand to measure the target's position and orientation remotely. This substitution eliminates the mechanical impact and the associated time loss while achieving accurate measurement.

The patent performs position and orientation measurement and correction calculations before the arm movement begins. By determining the required hand position adjustment in advance based on preliminary measurement data, the system can initiate arm movement immediately without waiting for measurement completion during motion. This preliminary calculation approach compensates for the arm's large time constant by ensuring all computational steps are finished before movement starts.

The patent implements continuous measurement and correction by performing distance detection continuously or at frequent intervals during the operation. Rather than stopping the arm to measure, the system continuously monitors the operation target's position and orientation, allowing the arm to maintain continuous motion while corrections are calculated and applied in real-time, thus keeping the useful action continuous despite the large time constant.

The patent implements feedback by using the distance detector on the hand to continuously measure the actual position and orientation of the operation target during the grasping operation. This measurement feedback is fed back to the control system, which automatically calculates the deviation from the predetermined position and determines the required hand movement amount to compensate. This closed-loop feedback system allows reliable grasping without requiring precise manual setup, as the system self-corrects based on real-time measurement feedback.

The patent applies self-service by enabling the robot system to automatically measure, calculate, and correct its own positioning errors without human intervention. The distance detector on the hand performs self-measurement of the operation target's position, the control system performs self-calculation of the required correction, and the arm automatically executes self-adjustment to achieve correct grasping position. This self-service capability eliminates the need for time-consuming manual setup and verification.