Robotic Imaging TCP Alignment for Collision-Safe Positioning
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Solution Overview
Problem
Robotic imaging systems face challenges in complex movement calculations and increased space consumption due to the use of a distanced reference point, leading to potential collisions and restricted movement options, especially with low stiffness robotic arm assemblies.
Innovation Solution
A robotic imaging system with a preset tool center point set on the optical axis or virtual axis of the imaging device, allowing for relative movement calculations and reducing the risk of collisions by simplifying the control of the imaging device's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a distanced reference point is used for movement control, then the imaging device can be moved with respect to the robotic arm assembly, but the movement calculation becomes complex and space consumption increases
Solution Approach 1:
The reference point is extracted from the robotic arm assembly and repositioned to coincide with the imaging device location. This separation of the reference point from the robotic arm's origin simplifies the movement calculation by eliminating the need for complex transformations between distanced coordinate systems.
Solution Approach 2:
Instead of moving the imaging device relative to a distanced reference point on the robotic arm, the system inverts the approach by setting the reference point at the imaging device itself and calculating movements from this new origin, thereby simplifying the mathematical transformations required.
2Measurement precision
If a distanced reference point is used for movement control, then the imaging device can be positioned by the robotic arm assembly, but space consumption increases and collision risk increases
Solution Approach 1:
The reference point is extracted from its traditional location on the robotic arm assembly and repositioned to the imaging device. This eliminates the need for sweeping movements through intermediate space, reducing the volume required for operation and minimizing collision risks with surrounding structures.
3Ease of operation
If a distanced reference point is used for movement control, then the imaging device can be moved by the robotic arm assembly, but positioning accuracy decreases due to low stiffness
Solution Approach 1:
The imaging device itself serves as the intermediary reference point between the robotic arm assembly and the target object. By positioning the reference point at the imaging device rather than on the robotic arm, the system eliminates the compliance and stiffness issues of the robotic arm from the positioning calculation, thereby improving accuracy.
Data Source
AI summary
The present invention relates to a robotic imaging system (1), comprising an imaging device (10) with at least one objective (11), wherein the at least one objective (11) provides an optical axis (11a) extending in a focus direction of the objective (11), a robotic device (20) connected to the imaging device (10) to move and/or orient the imaging device (10), and a control device (30) configured to set a preset tool center point (TCP) and to control the robotic device (20) to move and/or orient the imaging device (10) with respect to the preset tool center point (TCP), wherein the preset tool center point (TCP) for moving and/or orientating the imaging device (10) is on the optical axis (11a) of the at least one objective (11) or on a virtual axis (12) corresponding to an averaged vector of respective optical axes (11a) of a plurality of objectives (11) of the imaging device (10).