Robot Mechanism Data Switching for Position Accuracy Control
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Solution Overview
Problem
Existing robot controllers face challenges in maintaining high accuracy of position and orientation due to manufacturing errors and operational variations, making it difficult to improve the precision of robot operations when using fixed mechanism data.
Innovation Solution
A controller for robots that includes an operation control unit, an acquiring unit, and a selecting unit to acquire and select appropriate mechanism data based on the current operational state, allowing for dynamic adjustment of robot operations to match desired positions and orientations, and a correction device for operation programs that stores and displays mechanism data for operator input to correct operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If fixed mechanism data is used to control the robot, then the control system remains simple and stable, but the accuracy of position and orientation deteriorates when operational conditions change
Solution Approach 1:
The patent implements dynamic selection of mechanism data based on operational conditions. The controller automatically selects appropriate mechanism data from multiple stored sets according to the current operational state (work content, area, load), transforming the static fixed mechanism data system into a dynamic adaptive system that maintains high accuracy across varying conditions without requiring complex real-time calculations
Solution Approach 2:
The patent pre-prepares multiple sets of mechanism data corresponding to different operational conditions before actual operation. By anticipating various operational states and preparing appropriate mechanism data in advance, the system can quickly switch to the most suitable data set without complex real-time analysis, thereby maintaining high positioning accuracy while keeping the control system relatively simple
2Manufacturing precision
If multiple sets of mechanism data are prepared for different operational states, then the accuracy of robot position and orientation improves, but the complexity of data management and selection increases
Solution Approach 1:
The controller is designed with automatic selection capability that enables it to autonomously determine and switch to the appropriate mechanism data set based on detected operational conditions. The system self-manages the complexity of multiple data sets by implementing automatic condition assessment and data selection, eliminating the need for manual intervention and reducing operational complexity despite having multiple data sets
3Measurement precision
If mechanism error parameters are set to improve positioning accuracy, then the robot position and orientation precision improves, but the adaptability to different operational conditions deteriorates
Solution Approach 1:
The patent creates a universal mechanism data management system that can handle multiple operational conditions through multiple mechanism data sets. Each data set is optimized for specific conditions, but the overall system achieves universality by providing appropriate data for various work contents, areas, and load conditions, thereby maintaining both high precision and broad adaptability
Data Source
AI summary
A robot control device includes an operation control unit which controls the operation of a robot based on mechanism data. The mechanism data includes a parameter for calculating the relationship between an angle in a joint part of the robot and a distal end position of the robot. The control device also includes an acquisition unit which acquires a plurality of predetermined sets of mechanism data, a selection unit which selects one set of mechanism data from the plurality of sets of mechanism data, and a switching operation setting unit that sets the operation of the robot when changing the mechanism data.