Robot Work Offset Determination via Contact Measurement
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Solution Overview
Problem
Robotic systems face challenges in accurately determining the location and angular orientation of a working plane relative to their base plane, especially when the working plane shifts or tilts, which affects precise task execution.
Innovation Solution
An automated method where the robot identifies the working plane using image data, contacts multiple points, and calculates the work offset by determining the shift distance along the Z-axis and angular displacements with respect to the X and Y axes, enabling precise control and task execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses a fixed base plane reference for task execution, then the control system is simple, but the robot cannot accurately adapt to shifted or tilted working planes
Solution Approach 1:
The robot performs self-calibration by autonomously determining the work offset between its base plane and the working plane through contact measurements, eliminating the need for external calibration equipment or manual intervention
Solution Approach 2:
The robot determines the work offset in advance before executing tasks, storing the offset parameters for subsequent use during task execution, which simplifies real-time control while maintaining accuracy
2Measurement precision
If the robot manually calibrates the working plane using external tools, then measurement accuracy can be high, but the calibration process is time-consuming and complex
Solution Approach 1:
The patent replaces external mechanical calibration tools with the robot's own sensing and measurement capabilities, using its end effector to contact the working plane and automatically determine offset parameters
Solution Approach 2:
The robot performs self-calibration without external intervention, using its built-in sensors and control system to autonomously determine the work offset, significantly reducing calibration time and complexity
3Manufacturing precision
If the robot does not account for working plane shifts and tilts, then the control system remains simple, but task execution precision deteriorates
Solution Approach 1:
The robot determines the work offset between the base plane and working plane, then uses this offset information to compensate for shifts and tilts during task execution, improving precision through feedback-based correction
Solution Approach 2:
The system dynamically adjusts control parameters by calculating the work offset (including positional and angular components) and applying transformations to account for working plane variations, enabling precise task execution on non-level surfaces
Data Source
AI summary
Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.