公开(公告)号：US20220203544A1

公开(公告)日：2022-06-30

申请号：US17219890

申请日：2021-04-01

Applicant: Industrial Technology Research Institute

Inventor： Jun-Yi Jiang ,  Yen-Cheng Chen ,  Chung-Yin Chang ,  Guan-Wei Su ,  Qi-Zheng Yang

IPC: B25J9/16 ,  B25J19/00

Abstract: A mechanical arm calibration system and a mechanical arm calibration method are provided. The method includes: locating a position of an end point of a mechanical arm in a three-dimensional space to calculate an actual motion trajectory of the end point when the mechanical arm is operating; retrieving link parameters of the mechanical arm, randomly generating sets of particles including compensation amounts for the link parameters through particle swarm optimization (PSO), importing the compensation amounts of each of the sets of particles into forward kinematics after addition of the corresponding link parameters, to calculate an adaptive motion trajectory of the end point; calculating position errors between the adaptive motion trajectory and the actual motion trajectory of each of the sets of particles for a fitness value of the PSO to estimate a group best position; and updating the link parameters by the compensation amounts corresponding to the group best position.

公开(公告)号：US11904482B2

公开(公告)日：2024-02-20

申请号：US17219890

申请日：2021-04-01

Applicant: Industrial Technology Research Institute

Inventor： Jun-Yi Jiang ,  Yen-Cheng Chen ,  Chung-Yin Chang ,  Guan-Wei Su ,  Qi-Zheng Yang

IPC: B25J9/16 ,  B25J19/00

CPC classification number: B25J9/1692 ,  B25J9/1602 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1684 ,  B25J19/0095

Abstract: A mechanical arm calibration system and a mechanical arm calibration method are provided. The method includes: locating a position of an end point of a mechanical arm in a three-dimensional space to calculate an actual motion trajectory of the end point when the mechanical arm is operating; retrieving link parameters of the mechanical arm, randomly generating sets of particles including compensation amounts for the link parameters through particle swarm optimization (PSO), importing the compensation amounts of each of the sets of particles into forward kinematics after addition of the corresponding link parameters, to calculate an adaptive motion trajectory of the end point; calculating position errors between the adaptive motion trajectory and the actual motion trajectory of each of the sets of particles for a fitness value of the PSO to estimate a group best position; and updating the link parameters by the compensation amounts corresponding to the group best position.

公开(公告)号：US11188057B2

公开(公告)日：2021-11-30

申请号：US16821354

申请日：2020-03-17

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Guan-Wei Su ,  Chen-Yu Kai ,  Kai-Ming Pan ,  Jun-Yi Jiang

IPC: G05B19/416 ,  B23Q17/09 ,  B23Q15/12

Abstract: A drilling system including a feed control module, a force control module, a hole breaking control module, a conversion module and a computing unit is provided. The feed control module sets a feed force threshold and a feed speed threshold for the computing unit to determine whether the current mode satisfies a first conversion condition. The hole breaking control module sets a drilling penetration force threshold and a drilling penetration speed threshold for the computing unit to determine whether the current mode satisfies a second conversion condition. The conversion module informs to change the feed force and the feed speed according to the determination results of the two conversion conditions. The force control module provides the feed force. With the drilling system, possible impact on the workpiece due to resistance change which occurs when the drill just touches and nearly gets through the workpiece will be reduced.