Robot Work Position Correction Across the Full Movable Area

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Solution Overview

Problem

Existing work robots face challenges in achieving sufficient precision due to errors such as arm distortion, which cannot be corrected by optimizing DH parameters, leading to inaccurate positioning.

Innovation Solution

A work position correction method that involves setting multiple work points in a movable area, associating spatial coordinate values with correction values, and reflecting these correction parameters on the target position to enhance precision, using a multi-joint type robot arm with an actuator, storage device, and control device.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of manufacture

If DH parameter optimization is applied for coordinate transformation, then the robot control system can operate with standard calibration procedures, but insufficient work precision occurs due to uncorrectable errors such as arm distortion

Engineering Contradiction:

Improvecalibration procedure simplicityVSAvoidwork precision

Core Design Contradiction:

Ease of manufactureVSManufacturing precision

Solution Approach 1:

The correction parameter is divided into multiple elements (X-axis correction, Y-axis correction, Z-axis correction, rotational corrections) that are independently calculated and applied to different spatial directions, allowing comprehensive error correction while maintaining systematic organization

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A correction parameter acts as an intermediary between the target position and the actual robot movement, compensating for mechanical errors by introducing intermediate correction values that adjust the final positioning accuracy

Inventive Principle:

Principle #24Intermediary (Mediator)

2Manufacturing precision

If multiple work points are measured and correction parameters are calculated for the entire movable area, then work precision is improved across the full workspace, but the calibration time and measurement complexity increase

Engineering Contradiction:

Improvework precisionVSAvoidcalibration time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The movable area is segmented into multiple discrete work points arranged in a matrix pattern, allowing parallel measurement and correction calculation for different spatial regions, which distributes the calibration workload efficiently

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

All correction parameters for the entire movable area are calculated in advance during the calibration phase, storing correction values for multiple work points before actual operation begins, eliminating the need for real-time correction calculations during robot operation

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11285609B2Working position correcting method and working robot

Publication Date: 2022.03.29 FUJI CORP

AI summary

A work robot includes a multi-joint type robot arm and an actuator configured to drive each joint of the robot arm, and corrects a designated target position by a correction parameter to operate the robot arm. The correction of the target position is performed by setting multiple work points in a movable area of the robot, setting a correction parameter in which a spatial coordinate value and a correction value are associated with respect to the set multiple work points, and reflecting the set correction parameter on the target position.