Robot Tool Calibration Using Surface Contact Reference Geometry
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Solution Overview
Problem
Existing robot system calibration methods require complex manual operations and rich calibration knowledge, making it difficult for inexperienced engineers to accurately calibrate tools like probes and cutting tools, leading to potential calibration errors.
Innovation Solution
A method and apparatus that utilize a calibration object with a surface instead of a sharp tip, allowing tools to be placed on the surface for calibration, determining the center of the object based on geometry, and generating reference positions through mathematical calculations to simplify the calibration process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional calibration methods using a sharp tip calibration tool are used, then calibration precision can be achieved, but the operation complexity increases and requires experienced engineers
Solution Approach 1:
The calibration process is segmented into two independent parts: (1) automatic identification of the calibration object's feature point through image recognition, and (2) automatic calculation of reference positions based on pre-stored geometric models. This segmentation eliminates the need for manual alignment operations while maintaining calibration accuracy.
Solution Approach 2:
A camera is introduced as an intermediary device to capture images of the calibration object. The camera enables automatic feature point identification and reference position calculation, replacing manual visual alignment operations and reducing the skill requirement for calibration engineers.
2Measurement precision
If manual alignment operations are required for calibration, then calibration accuracy can be maintained, but the calibration time increases
Solution Approach 1:
The geometric models of calibration objects are pre-stored in the system database before calibration operations. During calibration, the system only needs to match captured images with pre-stored models and automatically calculate reference positions, eliminating time-consuming manual alignment while ensuring accuracy through predefined geometric relationships.
3Measurement precision
If complex manual calibration operations are required, then calibration precision can be achieved, but the device complexity increases
Solution Approach 1:
The calibration system performs self-service through automatic feature point identification and reference position calculation. The system uses image recognition to automatically locate calibration object features and computes reference positions based on stored geometric models, eliminating the need for complex manual operations and reducing procedural complexity while maintaining precision.
Data Source
AI summary
Methods, apparatuses, systems, and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, where the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture.