Robot Conveyor Tracking With Reciprocating Displacement Correction
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Solution Overview
Problem
Existing robot control methods fail to accurately perform continuous work on objects conveyed by a conveying device, as they do not account for periodic reciprocating displacements in the width direction, leading to inaccurate positioning and posture determination.
Innovation Solution
A control method for a robot system that includes imaging the target object, acquiring reciprocating displacement information, and correcting the robot's position command based on this information to account for periodic displacements, ensuring accurate work performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot performs continuous work following the conveyed workpiece, then productivity is improved, but positioning accuracy deteriorates due to unknown positions and postures at respective times
Solution Approach 1:
The system captures images at multiple positions along the conveying direction, detects the workpiece position and posture in each image, and uses this feedback information to calculate and correct the robot's position command. This closed-loop feedback mechanism enables accurate continuous work by constantly updating the robot's positioning based on actual workpiece locations captured in the image sequence.
2Manufacturing precision
If the robot system accounts for reciprocating displacement to improve positioning accuracy, then manufacturing precision is improved, but device complexity increases due to additional imaging and processing requirements
Solution Approach 1:
The imaging section serves multiple functions: it captures workpiece images for position detection, identifies reciprocating displacement patterns, and provides data for both instantaneous work and continuous work control. By making the imaging system multi-functional, the patent avoids adding separate detection devices, thereby improving positioning accuracy without proportionally increasing device complexity.
Data Source
AI summary
A control method for a robot system is a control method for a robot system including a conveying device configured to convey a target object and a robot configured to perform work while following the target object conveyed by the conveying device, the control method for the robot system including an image acquiring step for imaging, a plurality of times, the target object conveyed by the conveying device and acquiring a plurality of images, a reciprocating displacement information acquiring step for acquiring, based on the plurality of images, reciprocating displacement information indicating periodical reciprocating displacement in a width direction orthogonal to a conveying direction of the target object, and a correcting step for correcting a position command for the robot based on the reciprocating displacement information.