Robotic Arm Plane Alignment Using Binocular Feedback Compensation
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Solution Overview
Problem
Robotic arms often fail to accurately reach target planes due to machining and calibration errors, affecting positioning accuracy and task quality and efficiency.
Innovation Solution
A method and apparatus for position alignment of robotic arms that determine initial position information, acquire current coordinates, calculate displacement, and correct initial position information to compensate motion, using binocular cameras and coordinate transformation matrices to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic arm positioning is used without compensation, then the system is simple and fast, but positioning accuracy deteriorates due to machining and calibration errors
Solution Approach 1:
The patent introduces positioning tools (first positioning tool adjacent to target plane, second positioning tool on terminal plane) as intermediary elements. These tools serve as mediators between the robotic arm and the target plane, enabling precise measurement and compensation of positioning deviations without requiring direct high-precision mechanical coupling, thus improving positioning accuracy while maintaining reasonable system complexity
Solution Approach 2:
The patent implements a feedback mechanism where the binocular camera continuously monitors the position of positioning tools, calculates displacement between target plane and terminal plane, and uses this feedback information to correct the initial position information and adjust robotic arm movement, thereby improving positioning accuracy through closed-loop control
2Measurement precision
If binocular camera and coordinate transformation are used for calibration, then positioning accuracy is improved, but measurement and detection difficulty increases
Solution Approach 1:
The patent uses positioning tools that can be easily captured and modeled by the binocular camera, creating a digital copy of their spatial positions. The coordinate transformation matrices create mathematical copies of the physical spatial relationships, enabling accurate measurement and calculation without direct complex physical measurement, thus improving positioning accuracy while managing measurement difficulty through virtual modeling
3Measurement precision
If displacement calculation and position correction are implemented, then positioning accuracy is enhanced, but calculation and processing time increases
Solution Approach 1:
The patent performs preliminary actions by pre-establishing coordinate transformation matrices between the binocular camera and positioning tools, and pre-calculating the relationship between positioning tool positions and target plane coordinates. This preliminary preparation enables faster real-time displacement calculation and correction during actual operation, improving positioning accuracy while minimizing calculation time during critical operations
Data Source
AI summary
A method and apparatus for position alignment of a robotic arm, which includes determining initial position information of a target plane targeted by the robotic arm, where the initial position information includes a unit normal vector of the target plane and a preset projection point; controlling the robotic arm to move according to the initial position information of the target plane; acquiring current coordinates of a terminal plane of the robotic arm, and determining a target projection point on the terminal plane and a target normal vector according to the current coordinates; determining a displacement between the terminal plane and the target plane according to the target projection point on the terminal plane and the target normal vector as well as the unit normal vector of the target plane and the preset projection point; and correcting the initial position information of the target plane through the displacement.