Robot Tool Path Correction Using Laser Contour Scanning
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Solution Overview
Problem
Industrial robots face challenges in maintaining high positioning accuracy due to manufacturing errors and complex production environments, affecting their ability to traverse perfect paths, especially in high-precision applications.
Innovation Solution
A method for adjusting robot paths using a line laser sensor to scan the tool's movement, obtaining scanned contours, determining the actual trajectory, and adjusting the path based on deviations from the theoretical trajectory, thereby improving positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robot path control methods are used, then the robot can operate without additional equipment, but the positioning accuracy deteriorates due to manufacturing and assembly errors
Solution Approach 1:
A laser sensor is introduced as an intermediary device to measure the actual trajectory of the robot tool center point. The laser sensor projects a laser line and captures images of the tool contour, providing precise measurement data that compensates for robot positioning errors without requiring complex mechanical modifications to the robot itself
Solution Approach 2:
The patent replaces mechanical positioning reliance with optical measurement and computational correction. Instead of depending solely on mechanical precision, the system uses laser imaging to detect actual position and applies coordinate transformation algorithms to calculate compensation values, substituting mechanical precision requirements with optical-mechanical integration
2Manufacturing precision
If manual path adjustment methods are used, then the system remains simple, but the path accuracy deteriorates in high-precision applications
Solution Approach 1:
The system performs self-calibration and self-correction by automatically measuring its own trajectory deviations using the laser sensor and computing the compensation values. The robot system adjusts its own path accuracy through automated feedback without requiring external manual calibration procedures
Solution Approach 2:
The patent implements a closed-loop feedback system where the laser sensor continuously measures the actual trajectory, the control system compares it with the theoretical path, calculates deviations, and generates compensation values that are applied to correct future movements, creating an automatic self-correcting mechanism
3Measurement precision
If multiple laser sensors are used to detect different parts of the contour, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent segments the tool contour detection into multiple discrete measurement points along the laser line. By capturing the contour at multiple positions and processing each segment independently through coordinate transformation, the system achieves comprehensive coverage and high precision without requiring physically multiple sensor units
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 method enables precise correction of robot paths, enhancing positioning accuracy and efficiency while reducing costs and environmental limitations, ensuring high-precision operations in industrial settings.
Implementation Method 1
obtaining a plurality of scanned contours of a tool held by a robot travelling along the robot path by scanning the tool using a laser sensor
Data Source
AI summary
Embodiments of present disclosure relate to a method of adjusting robot path, a computing device, and a computer readable storage medium. The method comprises: obtaining a plurality of scanned contours of a tool held by a robot by scanning the tool at a plurality of positions using a laser sensor; determining, based on the plurality of scanned contours, the plurality of positions in an actual trajectory of the tool; determining the actual trajectory based on the plurality of positions; and adjusting the robot path based on a deviation between the actual trajectory and a theoretical trajectory of the tool. In this way, contour sampling data of the tool with high precision can be analyzed to correct the actual path data to fit the desired one, so as to improve the path accuracy.