Visual Servo End Effector Control With Robot and Moving-Part Modes
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Solution Overview
Problem
Existing robot devices with visual servo systems, like six-axis articulated robots, require significant time to align an end effector to a target position due to simultaneous control of multiple axes, leading to inefficiencies in movement control based on captured and target images.
Innovation Solution
A robot device and method that includes an imaging unit, an end effector with a base and moving parts, and a control unit capable of executing two modes of movement control: one where the robot arm moves the end effector, and another where the moving part of the end effector moves the object, allowing for independent control and reduced reliance on simultaneous axis alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual servo control is used to align the robot arm to the target position, then the positioning accuracy is improved, but the control time is significantly increased
Solution Approach 1:
The patent divides the end effector into a base part and a moving part, allowing independent control of each component. The base part is controlled by the robot arm while the moving part can be independently actuated, enabling segmented control that reduces overall alignment time while maintaining positioning accuracy.
Solution Approach 2:
The patent introduces dynamic mode switching between first mode (robot arm control) and second mode (moving part control). This allows the system to adaptively select the most efficient control method based on real-time conditions, optimizing the balance between positioning accuracy and control time.
2Manufacturing precision
If multiple axes of the robot arm are controlled simultaneously for alignment, then the positioning precision is improved, but the complexity of control is increased
Solution Approach 1:
The control system is segmented into two independent control paths: one for the robot arm base part and another for the moving part. This segmentation allows simpler, more independent control of each component while achieving the same positioning precision through coordinated action.
Solution Approach 2:
The control unit acts as an intermediary that coordinates between the robot arm control and the moving part control. It receives target position information and distributes appropriate control commands to both the robot arm and moving part, simplifying the overall control architecture.
3Measurement precision
If the robot arm is used to move the end effector to the target position, then the positioning accuracy is improved, but the time required for movement control is increased
Solution Approach 1:
The patent merges the control capabilities of the robot arm and the moving part into a unified control system that can operate in multiple modes. This combination allows the system to leverage the high precision of the robot arm while compensating for its slow response through the faster moving part, thereby improving overall productivity.
Solution Approach 2:
The system dynamically switches between different control modes depending on the task requirements. When high precision is needed, the robot arm control is activated; when speed is prioritized, the moving part control is used. This dynamic adaptation optimizes the balance between positioning accuracy and movement control efficiency.
Data Source
AI summary
A robot device includes an imaging unit, an end effector including a base part and a moving part configured to move an object with respect to the base part, a robot configured to support the end effector in such a manner that the robot can move a position of the end effector, and a control unit configured to control the imaging unit, the moving part, and the robot. In a case where a movement control is executed to move a position of the object based on the image captured by the imaging unit and a target image, the control unit is configured to execute a first mode in which the position of the object is moved by controlling the robot to move the position of the end effector, and a second mode in which the position of the object is moved by controlling the moving part.