Robotic End Tool Pose Measurement Using 3D Coordinate Offsets
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Solution Overview
Problem
Current methods for measuring the pose of robotic end tools in industrial robots rely on manual observation, resulting in low precision and stability, affecting machining accuracy.
Innovation Solution
A method involving a binocular three-dimensional scanner to obtain features of the flange and end tool, establishing coordinate systems, calculating positional and rotational offsets, and forming a posture transformation matrix to determine the pose of the end tool relative to the flange, enhancing precision and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual observation method is used to measure the center point pose of the robotic end tool, then the operation is simple and easy to perform, but the measurement precision and stability are low
Solution Approach 1:
The patent replaces the manual mechanical observation system with an automated vision-based measurement system. The system uses image capture devices to obtain images of the end tool, automatically identifies feature points, and calculates the center point pose through coordinate transformation algorithms, eliminating the need for manual observation and significantly improving measurement precision while maintaining ease of operation.
Solution Approach 2:
The patent creates a digital copy of the end tool's physical features through image capture and processing. By extracting feature points from images and establishing coordinate systems based on these digital representations, the system achieves precise measurement without direct physical contact or manual intervention, resolving the contradiction between operational simplicity and measurement accuracy.
2Measurement precision
If automated vision-based measurement system is implemented, then the measurement precision and stability are improved, but the device complexity increases
Solution Approach 1:
The patent designs a measurement system that can handle multiple types of end tools and various feature points (center points, tip points, etc.) using the same image capture and processing framework. The coordinate transformation methodology is universally applicable to different tool configurations, reducing the need for multiple specialized devices and minimizing overall system complexity while maintaining high measurement precision.
Solution Approach 2:
The system performs automatic feature point identification and coordinate calculation without requiring external manual intervention. The image processing algorithms automatically detect edges, identify feature points, and compute the center point pose, making the system self-sufficient and reducing the operational complexity despite the advanced technology involved.
3Ease of manufacture
If multi-pose approach method is used to measure the end tool pose, then the measurement can be performed with existing equipment, but the stability and precision of the measurement are low due to manual movement
Solution Approach 1:
The patent replaces manual mechanical movement with automated image-based measurement. Instead of physically moving the end tool to multiple poses and observing changes manually, the system captures images at different poses using image capture devices and automatically calculates the pose information through coordinate transformation, eliminating manual movement errors and significantly improving measurement stability and reliability.
Solution Approach 2:
The patent introduces image capture devices and coordinate transformation algorithms as intermediaries between the physical end tool and the measurement result. These intermediaries capture the tool's position and orientation information optically and process it mathematically, providing a stable and reliable measurement pathway that eliminates the instability introduced by manual observation and movement.
Data Source
AI summary
A method for measuring a pose of a robotic end tool, including: obtaining a three-dimensional feature of a flange and a three-dimensional feature of the end tool, establishing a first coordinate system and a second coordinate system at the center of the flange and the center of the end tool respectively, calculating a positional offset of the second coordinate system relative to the first coordinate system, and calculating a rotation offset of the second coordinate system relative to the first coordinate system according to each unit vector of the second coordinate system, so as to obtain a pose of the end tool relative to the flange. The method provided in the present application, compared with the manual observation method, the precision and stability of the pose measurement method are high.