Work Robot Position Correction by Region-Specific Accuracy
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Solution Overview
Problem
Conventional work robots using Denavit-Hartenberg parameters for coordinate transformation may not ensure sufficient accuracy due to uncorrectable errors and require excessive accuracy for all work tasks, leading to inefficiencies in manufacturing and operation.
Innovation Solution
A multi-joint work robot with a storage device for correction parameters specific to each work region, allowing the control device to adjust the target position using the appropriate correction parameter for the designated region, ensuring necessary and sufficient accuracy without excessive correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the same high work accuracy is guaranteed for all work target objects, then the work robot can perform any work with sufficient precision, but the manufacturing cost and adjustment complexity increase excessively
Solution Approach 1:
The movable region of the robot arm is divided into multiple work regions (first work region, second work region, etc.), each with its own correction parameter. This segmentation allows different accuracy levels to be applied to different regions, resolving the contradiction between maintaining high accuracy across all regions and reducing overall system complexity.
Solution Approach 2:
Different correction parameters are assigned to different work regions based on their specific accuracy requirements. The first work region uses a first correction parameter while the second work region uses a second correction parameter, allowing each region to have the quality (accuracy) it specifically needs rather than forcing uniform high accuracy everywhere.
2Manufacturing precision
If the robot arm is manufactured to achieve high work accuracy for all tasks, then sufficient precision is ensured for any work target object, but the manufacturing cost increases
Solution Approach 1:
The system changes the correction parameters based on the work region being operated in. By storing multiple correction parameters and selecting the appropriate one based on the target position, the system achieves high accuracy where needed without requiring the physical robot arm to be manufactured with uniformly high precision across all regions, thereby reducing manufacturing costs.
3Manufacturing precision
If correction parameters are optimized for the highest accuracy requirement, then all work tasks can be performed with sufficient precision, but other work tasks with lower accuracy requirements suffer from excessive correction
Solution Approach 1:
The correction parameter selection is dynamic rather than static. The control device determines which correction parameter to use based on the current work region and target position. This dynamic adaptation allows the system to use high-accuracy correction only when needed in specific regions, while using appropriate lower-accuracy correction in other regions, improving operational efficiency.
4Device complexity
If a single correction parameter is used for all work regions, then the system is simple to manage, but sufficient accuracy cannot be ensured for all work tasks
Solution Approach 1:
The correction parameter system is designed to be universal across multiple work regions. A single correction parameter storage device contains multiple correction parameters that can be applied to different work regions based on the target position. This multi-functional approach allows one system to serve multiple accuracy requirements, maintaining simplicity while achieving sufficient accuracy for all tasks.
Data Source
AI summary
An articulated robot includes an arm, an actuator, a storage device, and a control device. The storage device stores the correction parameter for correction accuracy required for each of the multiple work regions, which are segmented as the regions in which work on the work target object is performed in the movable region of the robot arm. When the work is instructed with designation of the target position, the control device acquires, from the storage device, a correction parameter corresponding to a work region to which the designated target position belongs, among the multiple work regions. Then, the control device controls the actuator by correcting the target position using the acquired correction parameter.