Robot Tool Coordinate Calibration Using Sensor Feedback
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Solution Overview
Problem
Manual calibration of industrial robots with tools is skill-dependent and tedious, lacking accuracy due to the need for manual alignment of feature points between the robot and tool coordinate systems.
Innovation Solution
A method involving a sensor and controller system that triggers the robot to perform transformations to contact an object at reference positions, recording joint positions and determining the mapping between coordinate systems to automatically calibrate the tool coordinate system, enabling precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration method is used to align feature points between robot and tool coordinate systems, then the calibration process can be completed, but the accuracy is reduced and operator dependency increases
Solution Approach 1:
The system uses sensors to automatically detect feature points and calculate coordinate transformations without human intervention. The robot performs self-calibration by executing transformation sequences and receiving feedback from sensors, eliminating the need for manual alignment by operators while improving calibration accuracy through precise automated measurement.
2Extent of automation
If automated sensor-based calibration is implemented, then operator dependency is reduced and accuracy is improved, but device complexity increases
Solution Approach 1:
The sensor system serves multiple functions: detecting feature points, measuring positions during transformation sequences, and providing feedback data for coordinate calculations. The robot system performs both the calibration transformations and the actual operational tasks. This multi-functionality reduces the need for separate dedicated calibration equipment, managing complexity while achieving high automation.
3Measurement precision
If multiple transformation sequences are executed for calibration, then the position relationship determination accuracy is improved, but the calibration time increases
Solution Approach 1:
The system executes transformation sequences with the robot moving to different positions and orientations while sensors continuously measure feature point positions. The feedback data from these measurements is used to calculate and refine the coordinate transformation parameters. This feedback mechanism allows the system to achieve high accuracy through multiple transformations without requiring excessive time, as each transformation provides valuable information for the final calculation.
Data Source
AI summary
Systems, devices, and methods for time calibration. The method can include, in responses to receiving sensing data which indicates a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations. Each transformation causing the tool to contact the object at a reference position; determining joint positions of a joint of the robot holding the tool or the object after the plurality of transformations; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.