Robot Visual Feedback System Using Pre-Calculated Correction Data
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Solution Overview
Problem
Existing robot systems using visual feedback struggle to perform operations involving complex motion paths without camera calibration, as they require precise positional relationships between the camera and the robot's hand, limiting their ability to efficiently move the camera parallel to a table surface and rotate about an axis normal to it without operator cognition of the robot coordinate system.
Innovation Solution
A robot system that includes a camera attached to the arm end for image capture, a robot position storage unit, a target arrival state data storage unit, a robot movement amount calculator, and a correction data calculator, allowing the robot to calculate movement amounts and correction data to align feature quantities of an object at different positions with target data, enabling operations on complex paths without camera calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If visual feedback is used without camera calibration to enable robot operations on objects at different positions, then the robot can perform operations without precise positional relationship between camera and hand, but the method cannot handle complicated motion paths and requires iterative convergence which increases time consumption
Solution Approach 1:
The patent pre-calculates and stores correction data for multiple predetermined object positions before actual operation. Instead of iteratively converging during operation, the system prepares position correction values in advance, allowing immediate application of corrections when objects are placed at these predetermined positions, thereby eliminating convergence time during actual operations
Solution Approach 2:
The patent anticipates potential positioning errors by pre-computing correction data for various object positions and storing them in a lookup table. This beforehand preparation cushions against the time loss that would otherwise occur during iterative convergence, as the corrections are already ready to be applied instantly
2Measurement precision
If the robot is controlled to make the appearance of the object coincide with target data through iterative visual feedback, then the robot can grip the object at the position where error is zero, but this restricts free design of the positional relationship between camera and hand
Solution Approach 1:
The patent introduces correction data as an intermediary element that decouples the camera-hand positional relationship from the object manipulation precision. The correction data acts as a mediator that translates object positions detected by the camera into accurate robot hand positions, allowing independent optimization of camera placement and hand positioning without compromising precision
Solution Approach 2:
The patent separates the visual feedback system into independent components: object detection in camera coordinate system, correction data lookup, and robot control in world coordinate system. This segmentation allows the camera and robot hand to be positioned independently while maintaining precise object manipulation through the correction data mapping
3Measurement precision
If camera calibration is performed to transform positional information between vision coordinate system and robot coordinate system, then the robot can perform operations with accurate coordinate transformation, but the process becomes complex and time-consuming
Solution Approach 1:
The patent creates a simplified copy of the coordinate transformation relationship by pre-calculating correction data for predetermined object positions. Instead of implementing full camera calibration with complex mathematical transformations, the system uses pre-computed correction values that replicate the essential transformation function, thereby reducing complexity while maintaining accuracy
Solution Approach 2:
The patent changes the parameter representation from continuous coordinate transformation matrices to discrete correction data values for predetermined positions. This parameter change simplifies the transformation process from complex mathematical operations to simple data lookup and application, reducing computational complexity while preserving transformation accuracy
Data Source
AI summary
The robot system includes: a robot for performing predetermined operations on an object placed at a first object position; a first robot position storage configured to store the position of an arm end arranged in a predetermined positional relationship relative to the first object position; a target arrival state data storage configured to store feature quantities of the object on the camera image; a robot movement amount calculator configured to calculate the amount of movement in order to make the feature quantities of the object placed at a second object position coincide with the feature quantities of the target arrival state data; and a correction data calculator configured to calculate correction data based on the difference between the second robot position when the arm end has been moved based on the amount of movement and the first robot position.