Articulated Robot Position Correction via Distal Imaging
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Solution Overview
Problem
The control of articulated robots in work machines, such as electric component mounting machines, is not sufficiently accurate due to low position accuracy and rigidity, leading to suboptimal operation and reduced practicality.
Innovation Solution
The implementation of imaging devices attached to the robot's distal end to capture workpiece and machine features, allowing for position data correction based on imaging data and design data to optimize the robot's operation, ensuring precise positioning and movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If imaging devices are attached to the robot distal end and position correction is implemented, then work accuracy and operation precision are improved, but device complexity increases
Solution Approach 1:
The patent implements feedback control by capturing images with imaging devices attached to the robot distal end, comparing actual positions with target positions, and correcting robot operation based on the detected deviations. This closed-loop feedback system continuously optimizes work accuracy by adjusting robot movements based on real-time imaging data and position corrections.
Solution Approach 2:
The patent replaces purely mechanical positioning systems with an optical measurement and correction system. Instead of relying solely on mechanical precision, the system uses imaging devices to detect position deviations and applies computational corrections, substituting mechanical rigidity requirements with optical-mechanical integration.
2Measurement precision
If position correction based on imaging data is implemented, then operation precision is improved, but measurement and detection difficulty increases
Solution Approach 1:
The patent introduces imaging devices as intermediary tools that facilitate precise measurement without requiring direct complex measurement of robot positions. The imaging devices capture visual information of workpieces and positions, converting complex spatial measurements into image data that can be processed and compared with design data to determine position deviations.
Solution Approach 2:
The patent uses imaging to create visual copies of the workpiece and robot position, then compares these copies with design data. This copying approach simplifies measurement by working with image representations rather than direct physical measurements, making the detection process more manageable while maintaining high precision.
Data Source
AI summary
In a work machine including an articulated robot which is provided with a work head and moves the work head, imaging devices which image at least part of a workpiece or part of the work machine are attached to a distal end of the robot, and a target operation position of the robot is corrected on the basis of position data regarding a plurality of feature points of the workpiece, created on the basis of imaging data obtained through imaging performed by the imaging devices and design data of the workpiece, or position data regarding a plurality of feature points set for the work machine.