Virtual Robot Base Control for Accurate End Effector Positioning
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Solution Overview
Problem
Existing systems face challenges in accurately positioning a robot end effector due to movements such as gravity, wind, and boom deflection, especially at greater distances from the robot base, leading to positioning errors.
Innovation Solution
A system that includes a robot base, a robot base actuator, a robot arm with an end effector, a tracking system, and a control system that calculates a virtual robot base position offset from the actual base, generating control signals to move the robot base along a path to accurately position the end effector relative to the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the distance from the robot base to the end effector is increased to expand working range, then the working range is improved, but positioning accuracy deteriorates due to boom deflection and gravitational effects
Solution Approach 1:
The system continuously monitors the actual position of the end effector using a tracking system and compares it with the desired position. Based on this feedback, the control system calculates a virtual robot base position offset and generates corrective control signals to compensate for positioning errors caused by boom deflection and gravitational effects, thereby maintaining high positioning accuracy despite increased working range
Solution Approach 2:
The system dynamically changes the robot base position parameter by calculating a virtual offset position based on tracking feedback. This parameter change allows the control system to compensate for positioning errors without physically modifying the robot base location, enabling accurate positioning at extended distances
2Adaptability or versatility
If the robot base is made movable to increase flexibility and adaptability, then adaptability is improved, but positioning stability deteriorates due to unintentional movements
Solution Approach 1:
The tracking system continuously monitors the actual position of the end effector and feeds this information back to the control system. The control system uses this feedback to calculate compensatory virtual base position offsets that counteract unintentional movements of the movable robot base, thereby maintaining positioning stability while preserving flexibility
Solution Approach 2:
The virtual robot base position offset acts as an intermediary between the physical robot base and the end effector positioning. This virtual offset compensates for unintentional base movements, allowing the movable base to provide flexibility while the virtual intermediary maintains positioning stability
Data Source
AI summary
A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.