Robot Control Position Mapping Without Large Measurement Apparatus
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Solution Overview
Problem
Existing methods for determining a robot's control position require measuring numerous mechanism parameters, necessitating large-scale apparatuses and are inefficient.
Innovation Solution
A method involving acquiring real and control reference positions, setting figures within the real space, obtaining a transform function, and calculating target control positions using this function to improve robot motion accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanism parameters are measured using related art methods, then control position correction can be achieved, but large-scale apparatuses are required and measurement complexity increases
Solution Approach 1:
The patent creates a virtual model (copy) of the robot mechanism and uses virtual measurement techniques to determine mechanism parameters. Instead of requiring large-scale physical measurement apparatuses, the system creates a digital representation of the robot's kinematic parameters and performs measurements in this virtual space, thereby achieving accurate parameter determination without complex physical equipment.
Solution Approach 2:
The patent replaces traditional mechanical measurement apparatuses with a computational approach. By substituting physical measurement devices with computer-based calculations and virtual modeling, the system achieves the same measurement precision without requiring large-scale mechanical equipment, thus reducing device complexity while maintaining measurement accuracy.
2Manufacturing precision
If numerous mechanism parameters are measured, then control position determination can be performed, but measurement time and processing complexity increase
Solution Approach 1:
The patent extracts only the essential mechanism parameters needed for control position determination from the complete set of possible parameters. By identifying and measuring only the critical parameters that directly affect control accuracy, the system reduces measurement time and processing complexity while maintaining sufficient robot motion accuracy for practical applications.
Solution Approach 2:
The patent applies partial measurement action by determining a subset of mechanism parameters rather than measuring all possible parameters. This partial approach provides sufficient accuracy for control purposes without the time and computational burden of complete parameter measurement, achieving an optimal balance between precision and efficiency.
Data Source
AI summary
A method for determining a control position of a robot includes (a) acquiring N real reference positions in a real space and N control reference positions in a robot control coordinate system, (b) setting M figures having vertices in a plurality of real reference positions of the N real reference positions within the real space, and obtaining a transform function expressing a correspondence relationship between a real position and a control position within each figure, (c) receiving input of a target position of the control point in the real space, (d) selecting an object figure for calculation of a control position for the target position from the M figures, and (e) calculating a target control position for the target position using the transform function with respect to the object figure.