Robot Arm Pose Control Using 2D-3D Object Imaging
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Solution Overview
Problem
Existing control systems for robot arms struggle to accurately calculate and control the position and pose of objects, particularly when multiple objects are involved or when imaging data is used to determine changes in position and pose over time.
Innovation Solution
A control apparatus that integrates multiple imaging apparatuses to generate control signals for a robot arm, utilizing first and second image data to calculate positions and poses, and determine target objects for processing, enabling precise movement of process apparatuses and imaging devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple imaging apparatuses are integrated to improve position and pose calculation accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system divides the imaging function into two separate imaging apparatuses: a first imaging apparatus for capturing two-dimensional images and a second imaging apparatus for capturing three-dimensional position data. This segmentation allows each apparatus to specialize in its specific function, improving overall measurement precision while maintaining manageable system complexity through clear functional division.
Solution Approach 2:
The system merges the data from both imaging apparatuses through a unified calculation unit that integrates two-dimensional image data and three-dimensional position data. This combination allows the system to leverage the strengths of both imaging types, achieving high-precision position and pose calculation by complementing the capabilities of each individual apparatus.
2Measurement precision
If three-dimensional position data from multiple points is used to calculate object pose, then measurement precision is improved, but calculation complexity increases
Solution Approach 1:
The calculation unit performs preliminary processing by generating three-dimensional model data of the object before using it for pose calculation. This preliminary action involves creating a reference model that simplifies subsequent calculations, as the system can compare acquired three-dimensional position data against this pre-established model rather than performing complex calculations from scratch each time.
Solution Approach 2:
Three-dimensional model data serves as an intermediary between the raw three-dimensional position data and the final pose calculation. The model acts as a reference framework that mediates the comparison process, making the calculation more manageable by providing a structured basis for determining object pose without requiring direct complex mathematical operations on all position points simultaneously.
3Adaptability or versatility
If the system can identify and process multiple different objects, then adaptability is improved, but measurement precision for individual objects may decrease
Solution Approach 1:
The calculation unit applies local quality processing by determining the position and pose of each object individually and independently. When multiple objects are detected, the system processes each object's data separately, ensuring that the measurement precision for each individual object remains high even when processing multiple objects simultaneously. This localized processing approach prevents cross-contamination of measurement data between different objects.
Data Source
AI summary
A control apparatus that generates a control signal for controlling a robot arm that performs a process on an object, a first imaging apparatus that outputs first image data, and a second imaging apparatus that outputs second image data are mounted. The control apparatus: generates first information indicating a position and a pose of the object by using the first image data generated by the first imaging apparatus; generates second information indicating a position and a pose of the object by using three-dimensional position data, which is generated from the second image data generated by the second imaging apparatus imaging the object and which indicates a three-dimensional position of each of a plurality of points of the object, and three-dimensional model data of the object having a position and a pose that are determined based on the first information; and generates the control signal based on the second information.