Robot Position Correction via Multi-Axis Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot position correction methods, such as those described in U.S. Pat. No. 9,796,086 B2, are limited in their ability to accurately correct deviations across multiple rotation axes, particularly in robots with a plurality of rotation axes, which affects the overall position control accuracy.
Innovation Solution
A method that involves setting multiple rotation axes parallel to each other at various connection points, including the base and arm, and hand, allowing for a two-step correction process where the hand is rotated around specific axes to detect and correct deviations, and then the arm and hand are adjusted to align axes and a target on a straight line, enabling the calculation of rotation angle correction amounts for improved position control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single pivot correction method is used as described in U.S. Pat. No. 9,796,086 B2, then the deviation on that single pivot can be corrected, but the position control accuracy deteriorates when multiple rotation axes are present in the robot system
Solution Approach 1:
The correction process is segmented into multiple sequential correction steps, each addressing a specific rotation axis. The method divides the overall correction task into individual axis corrections (first axis correction step, second axis correction step, etc.), allowing systematic correction of each axis while maintaining the complexity manageable through step-by-step processing
2Measurement precision
If multiple rotation axes are corrected sequentially through multiple correction steps, then position control accuracy improves, but the correction process complexity increases
Solution Approach 1:
Before performing the correction steps, the method establishes preliminary actions including setting the robot to specific postures (first posture, second posture), positioning the hand relative to the target, and preparing the detection system. These preliminary actions organize the correction process and reduce complexity by establishing a systematic framework before actual corrections begin
Solution Approach 2:
Each correction step incorporates feedback mechanisms where the sensor detects the actual position deviation, and this detection result is used to calculate and apply the appropriate correction amount. The feedback loop (detection → calculation → correction) is repeated for each axis, ensuring accurate correction while maintaining a structured process that manages complexity through iterative refinement
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 enhances the position control accuracy of the robot by correcting not only the third axis but also the second axis, thereby improving the robot's ability to precisely locate targets and maintain accurate positioning.
Implementation Method 1
a sensor that is configured to propagate detection light between the first front end and the second front end and to detect whether a target blocks the detection light
Data Source
AI summary
A method of correcting a position of a robot includes: a correction step of rotating an arm around a first axis to detect a rotation angle around the first axis when a target blocks detection light, and locating the first axis, a third axis, and the target on an identical straight line by rotating the arm and/or a hand around the first axis, a second axis, and/or the third axis based on a detection result; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on the rotation angle of each rotation axis acquired after the correction step in a first posture.