Invention Reference Number
This invention provides a precise methodology for calibrating a multi-robot system with an arbitrary number of agents to achieve a unified coordinate frame with high accuracy. It enables the coordination of multiple robots for improved efficiency, reliability, and scalability, particularly in Wire Arc Additive Manufacturing processes.
Description
The invention addresses key challenges in multi-robot coordination, including calibration, communication, and synchronization. It employs a tracking target mounted on the robot’s end effector and positioners. By drawing a known shape, such as a rectangular prism, the system observes deviations from theoretical models, calculates offsets, and iteratively applies kinematic adjustments across six degrees of freedom until alignment is achieved. This ensures precise coordination, enabling multi-robot systems to function as a cohesive unit.
Benefits
- Enhanced performance: Multi-robot systems improve fabrication speed, efficiency, and accuracy, particularly for large-scale and complex metal structures.
- Increased reliability: Provides redundancy and fault tolerance, allowing adaptation to changing conditions and failure recovery.
- Improved scalability: Enables handling of tasks beyond a single robot’s capability, such as manipulating heavy materials or forming intricate geometries.
- Higher manufacturing accuracy: Ensures that multiple robots maintain precise alignment, reducing errors in metal deposition.
Applications and Industries
- Manufacturing and industrial automation: Enhances automated production lines, robotic welding, and multi-agent assembly processes.
- Aerospace and automotive: Enables the fabrication of lightweight, high-precision metal components with WAAM technology.
- Construction and infrastructure: Supports large-scale robotic 3D printing of metal structures and customized building components.
- Defense and heavy equipment: Assists in producing durable and complex parts with high structural integrity.
Contact
To learn more about this technology, email partnerships@ornl.gov or call 865-574-1051.
