Method and apparatus to correct static deflection in a handling robot
AssigneeSamsung Electronics Co., Ltd.
InventorsPhil Joo Cho, Jae Chul Hwang
Life of this patent
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Abstract
An apparatus and method of optimally correcting a static deflection caused by a weight of an end effector coupled to a robot arm or a load on the end effector when the end effector is activated to handle a large sheet of glass. A deflection angle of the end effector is corrected by inserting a compensation member into a joint of the robot arm, and the static deflection caused by the weight of the handling robot when conveying the sheet of glass is also corrected in real time.
Claims15
A method of correcting a static deflection in a handling robot having a robot arm to handle an article, the method comprising:
- correcting a deflection angle of an end effector coupled to the robot arm by inserting a compensation member into a joint of the robot arm,
- wherein the static deflection is caused by a weight the end effector when conveying the article, and the correcting of the static deflection comprises correcting the static deflection in real time,
- wherein the correcting of the real-time static deflection comprises correcting a vertical static deflection using deflection compensation curves according to a vertical position (z), a longitudinal position (x), and a rotational position (θ) of the end effector.
An apparatus to correct a static deflection in a handling robot, the apparatus comprising:
- a robot arm to handle an article;
- an end effector coupled to the robot arm to hold the article;
- and
- a compensation member inserted in a joint of the robot arm to correct a deflection angle of the end effector,
- wherein the static deflection is caused by a weight of the end effector when conveying the article and the correcting of the static deflection comprises correcting the static deflection in real time,
- wherein the correcting of the real-time static deflection comprises correcting a vertical static deflection using deflection compensation curves according to a vertical position (z), a longitudinal position (x), and a rotational position (θ) of the end effector.
A method of correcting a static deflection in a handling robot, the method comprising:
- correcting, in real time, a static deflection caused by a weight of the handling robot when conveying an article;
- wherein the correcting of the real-time static deflection comprises correcting a vertical static deflection using deflection compensation curves according to three variables corresponding respectively to a vertical position (z), a longitudinal position (x), and a rotational position (θ) of an end effector, or using a function differentiable for the three variables.
A method of correcting a static deflection in a handling robot, the method comprising:
- correcting a static deflection of an end effector of a robot arm of the handling robot using a mechanical compensation and a real time compensation,
- wherein the static deflection is caused by a weight of the end effector when conveying the article, and the correcting of the static deflection comprises correcting the static deflection in real time,
- wherein the correcting of the real-time static deflection comprises correcting a vertical static deflection using deflection compensation curves according to a vertical position (z), a longitudinal position (x), and a rotational position (θ) of the end effector.
An apparatus to correct a static deflection in a handling robot, the apparatus comprising:
- a robot arm to handle an article;
- an end effector coupled to the robot arm to hold the article;
- and
- a controller to correct, in real time, a static deflection caused by a weight of the end effector when conveying the article;
- wherein the controller performs the real-time static deflection correction to correct a vertical static deflection using deflection compensation curves according to three variables corresponding respectively to a vertical position (z), a longitudinal position (x), and a rotational position (θ), or using a function differentiable for the three variables.
An apparatus to correct a static deflection in a handling robot, the apparatus comprising:
- a robot arm to handle an article;
- an end effector coupled to the robot arm to hold the article;
- and
- a compensation unit to correct a static deflection of an end effector of the robot arm of the handling robot using a mechanical compensation and a real time compensation,
- wherein the static deflection is caused by a weight of the end effector when conveying the article, and the correcting of the static deflection comprises correcting the static deflection in real time,
- wherein the correcting of the real-time static deflection comprises correcting a vertical static deflection using deflection compensation curves according to a vertical position (z), a longitudinal position (x), and a rotational position (θ) of the end effector.
Dependencies are inferred from the claim text.