Robot Joint Transmission Error Correction for Precise Path Tracking
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Solution Overview
Problem
Current robot systems face challenges in achieving accurate path management due to transmission errors in joint rotations, which accumulate and result in path deviations, especially in high-precision applications like microelectronic device production, where existing calibration solutions fall short in providing sufficient accuracy.
Innovation Solution
A method and apparatus for managing a robot path by determining transmission errors using kinematic data and representing them with sinusoid functions, allowing for accurate correction of the path to be followed by the robot system, eliminating the need for external calibration tools and enhancing accuracy through sinusoid parameter optimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If existing calibration solutions are used to correct transmission errors, then the robot system can operate, but the path accuracy is insufficient for high-precision applications
Solution Approach 1:
The patent transforms the transmission error correction problem from a static calibration approach to a dynamic parameter optimization approach. By representing transmission errors as sinusoidal functions with adjustable parameters (amplitude, frequency, phase) and optimizing these parameters to minimize path deviation, the system achieves higher calibration accuracy without requiring external calibration tools
Solution Approach 2:
The patent implements a feedback mechanism where the actual path deviation is measured and used to adjust the sinusoidal parameters representing transmission errors. The system continuously optimizes the parameters based on the difference between ideal and actual paths, enabling iterative improvement of path accuracy through feedback from path deviation measurements
2Productivity
If traditional calibration tools and methods are used, then calibration can be performed, but it requires external calibration tools and is time-consuming
Solution Approach 1:
The patent enables the robot system to perform self-calibration without external calibration tools. By using the robot's own motion data and path deviation measurements to determine and correct transmission errors through sinusoidal parameter optimization, the system achieves calibration autonomously, eliminating the need for external equipment and reducing calibration time
Solution Approach 2:
The patent extracts the essential calibration function from external calibration tools and implements it within the robot system itself. By removing the dependency on external calibration equipment and using only the robot's own operational data, the system achieves calibration efficiency without sacrificing accuracy
3Adaptability or versatility
If multiple joints are used to achieve complex robot movements, then the robot can perform various operations, but transmission errors accumulate and increase path deviation
Solution Approach 1:
The patent segments the overall transmission error into individual joint errors, each represented by sinusoidal functions with specific parameters. By determining and correcting transmission errors for each joint separately based on path deviation data, the system prevents error accumulation and maintains path accuracy even when multiple joints are used for complex operations
Data Source
AI summary
Methods, apparatuses, systems, and computer readable media for managing a path of a robot system. The systems include comprises an arm which has a joint for rotating the arm. In the methods, a real path of a tip of the robot system is obtained during directing a movement of the tip to follow an ideal path. A path deviation is identified between the real path and the ideal path. A transmission error of the joint is determined based on the path deviation and kinematic data associated with the movement and a plurality of rotations of the joint respectively at a plurality of time points during the movement.