Robotic Arm Sensor Calibration Using Auto-Set Movement Range
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Solution Overview
Problem
Existing calibration methods for robotic arms and sensors require skilled operators and involve complex operations, leading to prolonged calibration times and reduced accessibility for less experienced users.
Innovation Solution
A calibration device that automatically determines the movement range of a robotic arm based on the sensor's field of view and object size, allowing easy and rapid calibration by changing the robotic arm's posture within this range to obtain multiple combinations of posture and detection results, and performs calibration using reliable detection data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If known calibration methods are used with numerous parameters and complicated operations, then calibration accuracy can be achieved, but calibration time is prolonged and operator skill is required
Solution Approach 1:
The calibration device automatically determines the movement range by itself using the sensor's field of view size and object size information, without requiring manual specification of parameters by operators. The system performs self-calibration by autonomously controlling the robotic arm to move within the determined range and collect detection data, eliminating the need for skilled operators to perform complex tuning operations.
Solution Approach 2:
The invention changes the approach from using numerous manual parameters to using only two key parameters: field of view size and object size. By automatically calculating the movement range from these parameters and controlling the robotic arm within this range, the system achieves calibration with fewer parameters while reducing calibration time and operator skill requirements.
2Measurement precision
If skilled operators perform calibration with optimal tuning, then accurate calibration is achieved, but the process becomes complex and inaccessible to less experienced users
Solution Approach 1:
The calibration device performs automatic determination of movement range and autonomous execution of calibration procedures, eliminating the need for skilled operators. The system uses the sensor's field of view information and object size to automatically calculate appropriate movement ranges and control the robotic arm, making calibration accessible to users with minimal expertise.
Solution Approach 2:
The invention replaces manual mechanical adjustment and skilled operator intervention with an automated control system. The calibration device uses computational algorithms to determine movement ranges and controls the robotic arm programmatically, substituting human skill with automated mechanical and computational systems.
3Reliability
If the robotic arm moves extensively during calibration, then comprehensive calibration data is obtained, but calibration time increases
Solution Approach 1:
The calibration device performs preliminary determination of the optimal movement range before actual calibration begins. By calculating the appropriate range based on field of view and object size in advance, and then controlling the robotic arm to move only within this predetermined range, the system obtains sufficient calibration data efficiently without requiring extensive robotic arm movement.
Solution Approach 2:
The invention optimizes the movement range parameter by determining it automatically from sensor and object characteristics rather than using fixed or manually specified values. This parameter optimization ensures the robotic arm moves just enough to gather reliable calibration data while minimizing unnecessary movement and calibration time.
Data Source
AI summary
A calibration device performs calibration based on detection results of an object from a sensor. The calibration device includes a determiner that determines, based on a size of a field of view of the sensor and a size of the object, a range in which a posture of a robotic arm with the object attached or with the sensor attached to detect the object is changed, an obtainer that repeatedly obtains a combination of information about the posture of the robotic arm and a detection result of the object from the sensor while the posture of the robotic arm is being changed within the range determined by the determiner to obtain a plurality of the combinations, and a calibrator that performs, based on the plurality of combinations obtained by the obtainer, calibration to determine correspondence between the postures of the robotic arm and the detection results of the object.