This technology is a grasping control method for robot arms that uses an optical tracker and a world marker placed within the workspace as a reference point. By calculating coordinate system transformation matrices between the robot tool tip, the world marker, and the target marker in multiple stages, this geometric control method determines the precise target position of the tool tip, even if the tracker's position changes or the robot and target are not within the same field of view.
Conventional eye-to-hand calibration requires a fixed tracker position, which limits the flexibility of the work environment. Furthermore, technologies that require the robot marker and target marker to be recognized simultaneously within a single field of view have significant limitations regarding the operating range.
This technology derives a third transformation relationship by converting the tool tip coordinates of the robot arm and the position coordinates of the target marker based on a world marker. By using a world marker with a polyhedral or curved structure that is easily recognizable from multiple angles, it increases the installation flexibility for the optical tracker and controls robot motion by establishing relational expressions between the robot base, arm end, tool tip, and robot marker. It can be applied to logistics picking, service robots, and manufacturing automation, improving robot arm control in diverse environments and allowing for clear marker recognition from various directions.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various commercial articulated robots and specialized for bin-picking and loading/unloading tasks.
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