Robotic Arm Waypoint Calibration in Modular Systems
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Solution Overview
Problem
In modular robotic systems, manually calibrating waypoints for robotic arms is tedious and prone to errors due to potential relative movement of components, leading to imprecise positioning and orientation.
Innovation Solution
An apparatus and method for automatic calibration using a computing device to receive cluster configuration input, identify calibration parameters, capture coarse poses, generate and refine waypoint sequences, and display outputs, leveraging control algorithms and feedback to achieve precise positional adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration is used to record waypoints, then the robotic arm can achieve precise positioning, but the calibration process becomes tedious and error-prone when modular components are added or replaced
Solution Approach 1:
The system performs self-calibration by automatically detecting modular component positions and generating updated waypoint sequences without human intervention. The robotic arm autonomously executes calibration routines, captures images of components, processes the data, and refines waypoint coordinates, eliminating the need for manual calibration operations.
Solution Approach 2:
The patent replaces manual mechanical calibration operations with an automated vision-based system. Instead of manually moving the robotic arm to record waypoints, the system uses image capture and processing to automatically determine component positions and calculate precise waypoint coordinates through computational methods.
2Adaptability or versatility
If modular components are added or replaced in the system, then system adaptability improves, but waypoint precision deteriorates due to relative movement of components
Solution Approach 1:
The system implements feedback by capturing images of modular components, processing the image data to determine actual positions, comparing these positions with stored waypoint data, and automatically refining waypoint coordinates based on the detected deviations. This closed-loop feedback ensures precision is maintained after component additions or replacements.
Solution Approach 2:
The system performs preliminary calibration by detecting and recording the positions of all modular components before executing the main operational tasks. This preliminary action establishes an updated reference framework that accounts for any component changes, ensuring subsequent operations maintain precision.
3Productivity
If automated calibration is implemented, then calibration time is reduced, but system complexity increases due to additional computing requirements
Solution Approach 1:
The computing device performs multiple functions: it captures images of modular components, processes image data to determine positions, generates updated waypoint sequences, and controls the robotic arm execution. By consolidating these functions into a single multi-functional system, the patent avoids the need for separate dedicated devices for each task, thereby limiting the increase in overall system complexity.
Data Source
AI summary
An apparatus and method for automatic calibration of a robotic arm in a modular system. The apparatus includes at least a cluster configuration, at least a computing device comprising a memory and a processor, communicatively connected to the memory, wherein the processor is configured to receive a cluster configuration input, identify at least a calibration parameter, capture a coarse pose, transmit a first waypoint sequence to at least a modular component, modify the coarse pose of at least a configurable waypoint in the waypoint template, transmit a second waypoint sequence, and display, using a display device, an output.