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：US20210225607A1

公开(公告)日：2021-07-22

申请号：US16813747

申请日：2020-03-10

Applicant: Industrial Technology Research Institute

Inventor： Yen-Cheng Chen ,  Chung-Yin Chang ,  Jun-Yi Jiang ,  Qi-Zheng Yang ,  Kai-Ming Pan ,  Chen-Yu Kai

IPC: H01J37/02 ,  G01B11/275

Abstract: A calibrating method is provided including the following steps. A type of a first sensor and a type of a first sensor carrier are determined according to an external shape of a first object. The first sensor is carried by the first sensor carrier, and a relative coordinate of the first object is measured by the first sensor. The relative coordinate of the first object is compared with a predetermined coordinate of the first object to obtain a first object coordinate error, and the first object coordinate error is corrected. After the first object coordinate error is corrected, the first object is driven to perform an operation on a second object or the second object is driven to perform the operation on the first object. A calibrating system is also provided.

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：US11289303B2

公开(公告)日：2022-03-29

申请号：US16813747

申请日：2020-03-10

Applicant: Industrial Technology Research Institute

Inventor： Yen-Cheng Chen ,  Chung-Yin Chang ,  Jun-Yi Jiang ,  Qi-Zheng Yang ,  Kai-Ming Pan ,  Chen-Yu Kai

IPC: H01J37/02 ,  G01B11/275

Abstract: A calibrating method is provided including the following steps. A type of a first sensor and a type of a first sensor carrier are determined according to an external shape of a first object. The first sensor is carried by the first sensor carrier, and a relative coordinate of the first object is measured by the first sensor. The relative coordinate of the first object is compared with a predetermined coordinate of the first object to obtain a first object coordinate error, and the first object coordinate error is corrected. After the first object coordinate error is corrected, the first object is driven to perform an operation on a second object or the second object is driven to perform the operation on the first object. A calibrating system is also provided.