Work Robot Target Position Correction in a 3D Reference Matrix
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Solution Overview
Problem
Existing work robots face challenges in ensuring accurate positioning of a target position in a three-dimensional operation space, leading to inefficiencies in working accuracy despite optimized DH parameters.
Innovation Solution
A method is introduced where two contiguous blocks are set as the first and second blocks relative to a specific block containing the target position, using reference points from both blocks and measured deviation amounts to correct the target position, ensuring accurate positioning by utilizing deviation data from both the specific block and its adjacent blocks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If DH parameter optimization is performed for coordinate transformation, then the robot control system can operate efficiently, but working accuracy cannot be ensured sufficiently
Solution Approach 1:
The operation space is divided into multiple regions, and DH parameters are derived individually for each region. This segmentation allows the system to maintain efficiency through systematic processing while improving accuracy by tailoring parameters to specific spatial zones, resolving the contradiction between efficient operation and sufficient accuracy.
Solution Approach 2:
Different DH parameters are set for different regions of the operation space based on locally measured deviation amounts. This local quality approach ensures that each region has optimized parameters for its specific characteristics, thereby achieving sufficient working accuracy while maintaining overall system efficiency through region-specific optimization.
2Adaptability or versatility
If DH parameters are derived individually for multiple regions, then the system can adapt to different operation zones, but positioning accuracy at specific target points remains insufficient
Solution Approach 1:
The system measures the actual deviation amount at reference points in each region and uses this feedback to correct DH parameters. This feedback mechanism ensures that positioning accuracy at specific target points is improved by continuously adjusting parameters based on actual measured deviations, while maintaining adaptability across different operation zones.
Solution Approach 2:
The invention extends the correction approach from single-point measurement to three-dimensional matrix measurement with multiple reference points. By measuring deviations in three dimensions and using contiguous blocks of reference points, the system achieves higher positioning accuracy at specific target points while maintaining adaptability across the entire operation space.
3Device complexity
If only the specific block's reference points are used for correction, then the correction process is simple, but positioning accuracy is insufficient
Solution Approach 1:
The correction process is segmented into hierarchical levels: first correcting within the specific block, then incorporating contiguous blocks for enhanced accuracy. This segmentation allows the system to maintain relative simplicity while progressively improving positioning accuracy by adding correction layers only when needed.
Solution Approach 2:
The correction approach transitions from two-dimensional (single block) to three-dimensional correction by incorporating contiguous blocks in the three-dimensional matrix. This dimensional expansion improves positioning accuracy by utilizing spatial relationships among multiple blocks while maintaining a systematic and manageable correction process.
Data Source
AI summary
In a method for correcting a target position, a three-dimensional matrix is formed by piling up, in a Z-direction at predetermined intervals, matrix planes each formed by continuously connecting, in X- and Y-directions, quadrangular areas that are parallel to an XY-plane and each have a reference point, and a target position of a work robot designated in an operation space of the three-dimensional matrix is corrected. In this method, a first block and a second block are set which are individually contiguous with the specific block, and the target position is corrected based on respective reference points in the upper area and the lower area of the specific block, the first block, and the second block and the measured deviation amount of the work robot from the reference points.