Robot Position Compensation via Pre-Captured Light Path Images
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Solution Overview
Problem
Existing robot systems face challenges in achieving high positional accuracy due to low accuracy in position calculation from sensors like acceleration, gyroscope, and strain gauges, and image capture devices struggle to acquire position data quickly enough for real-time control cycles.
Innovation Solution
A robot system utilizing an image capture device, such as a camera, to directly acquire position data by capturing light from a light source, with a path acquisition unit, positional error estimation unit, and compensation value generation unit to generate and adjust position compensation values, enabling learning control for improved positional accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an image capture device is used to directly acquire position data, then measurement precision is improved, but the acquisition speed becomes too slow for real-time control cycles
Solution Approach 1:
The system pre-acquires multiple images at different positions along the robot's movement path before the actual control cycle begins. By preparing position data in advance for multiple discrete points, the system eliminates the need for real-time image acquisition during high-speed control, thus resolving the contradiction between measurement precision and acquisition speed.
Solution Approach 2:
The continuous movement path of the robot is divided into multiple discrete position segments, with images captured at each segment point in advance. This segmentation allows the system to use pre-acquired image data for multiple positions rather than requiring continuous real-time acquisition, thereby maintaining high measurement precision while reducing speed requirements.
2Speed
If sensors like acceleration sensors or strain gauges are used, then acquisition speed is improved, but measurement precision deteriorates due to integration errors
Solution Approach 1:
The system replaces mechanical sensors (acceleration sensors, strain gauges) that require integration and suffer from accumulation errors with an optical measurement system using image capture devices. This substitution eliminates the integration process entirely, as image processing directly yields position information, thereby improving measurement precision while maintaining adequate acquisition speed through pre-capture and segmentation strategies.
3Manufacturing precision
If learning control is implemented to improve positional accuracy, then manufacturing precision is improved, but the system complexity increases
Solution Approach 1:
The system creates a digital copy of the robot's movement path by capturing images at multiple discrete positions and reconstructing the path through image processing. This copied path information is then used for learning control to generate compensation values, achieving improved positional accuracy without requiring complex physical modifications to the control system architecture.
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 approach allows for higher accuracy in position compensation, overcoming the limitations of traditional sensors by enabling direct position data acquisition and efficient learning control, even in high-speed control cycles.
Implementation Method 1
an image capture device (camera 30 described later, for example) that captures an image of light from the light source
Data Source
AI summary
A robot system includes a light source, an image capture device, a robot mechanism unit having a target site of position control where the light source is provided, and a robot controller that controls the position of the robot mechanism unit based on a position command, a position feedback, and a position compensation value. The robot controller includes a path acquisition unit that makes the image capture device capture an image of light from the light source continuously during the predetermined operation to acquire a path of the light source from the image capture device, a positional error estimation unit that estimates positional error of the path of the light source from the position command based on the acquired path of the light source and the position command, and a compensation value generation unit that generates the position compensation value based on the estimated positional error.