Patent Publication Number: US-2021187816-A1

Title: Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same

Description:
This application claims the benefit of U.S. provisional application Ser. No. 62/951,001, filed Dec. 20, 2019, the subject matter of which is incorporated herein by reference, and claims the benefit of Taiwan application Serial No. 109115578, filed May 11, 2020, the subject matter of which is incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The invention relates in general to a correction system and a correction method using the same, and more particularly to a dynamic correction system of a manufacturing process using wire and a dynamic correction method using the same. 
     Description of the Related Art 
     According to the existing wire encapsulating process, a carrier is covered with a wire by a machine, and the manufacturing process of the like includes winding or braiding. The wire encapsulating quality of the carrier is subjected to many factors, such as the motion parameter of the machine and the appearance of the carrier. The wire encapsulating quality is not necessarily eligible for each product. During the wire encapsulating process, the wire may be slipped, split, or twisted and result in defects. When a product is found to have wire encapsulating defects, the current practice is to classify the product as a defective or a rejected product. Therefore, it has become a prominent task for the industries to provide a technology for resolving the problem of wire encapsulating defects. 
     SUMMARY OF THE INVENTION 
     The invention is directed to a dynamic correction system of a manufacturing process using wire and a dynamic correction method using the same. 
     According to one embodiment of the present invention, a dynamic correction system of a manufacturing process using wire is provided. The dynamic correction system includes a driving device, a path sensor, and a controller. The driving device is configured to: drive a carrier with a motion parameter and encapsulate the carrier with a wire. The path sensor is configured to obtain an actual path information of the wire encapsulating the carrier. The controller is configured to: obtain an actual path of the wire encapsulating the carrier according to the actual path information; obtain an actual path difference between a target path and the actual path; determine whether the actual path difference is greater than a predetermined error; and, when the actual path difference is greater than the predetermined error, control the driving device to change the motion parameter to cause the actual path of the wire encapsulating the carrier to approach the target path. 
     According to another embodiment of the present invention, a dynamic correction method of a manufacturing process using wire is provided. The dynamic correction method includes the following steps: driving a carrier with a motion parameter by a driving device; encapsulating the carrier with a wire by the driving device; obtaining an actual path information of the wire encapsulating the carrier by a path sensor; obtaining an actual path of the wire encapsulating the carrier by a controller according to the actual path information; obtaining an actual path difference between a target path and the actual path by the controller; determining whether the actual path difference is greater than a real-time error by the controller; and when the actual path difference is greater than the real-time error, changing the motion parameter by the controller to cause the actual path of the wire encapsulating the carrier to approach the target path. 
     The above and other aspects of the invention will become better understood with regard to the following detailed description of the preferred but non-limiting embodiment (s). The following description is made with reference to the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  is a functional block diagram of a dynamic correction system of a manufacturing process using wire according to an embodiment of the present disclosure. 
         FIG. 1B  is a schematic diagram of the dynamic correction system of a manufacturing process using wire of  FIG. 1A . 
         FIG. 1C  is a schematic diagram of the dynamic correction system of  FIG. 1B  viewed towards a direction  1 B′. 
         FIG. 2A  is a schematic diagram of a path image of wire captured by the path sensor of  FIG. 1B . 
         FIG. 2B  a schematic diagram of a to-be-detected area image of the to-be-detected area in the path image of  FIG. 2A . 
         FIG. 3  is a flowchart of a dynamic correction method of the dynamic correction system of  FIG. 1B . 
         FIG. 4  is another flowchart of a dynamic correction method of the dynamic correction system of  FIG. 1B   
         FIG. 5  is a partial diagram of a dynamic correction system of a manufacturing process using wire according to another embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Refer to  FIGS. 1A to 1C .  FIG. 1A  is a functional block diagram of a dynamic correction system  100  of a manufacturing process using wire according to an embodiment of the present disclosure.  FIG. 1B  is a schematic diagram  100  of the dynamic correction system  100  of a manufacturing process using wire of  FIG. 1A .  FIG. 1C  is a schematic diagram of the dynamic correction system of  FIG. 1B  viewed towards a direction  1 B′. 
     The dynamic correction system  100  includes a driving device  110 , a path sensor  120  and a controller  130 . The controller  130  can be realized by a circuit structure, such as chip, semi-conductor package or other circuit element, wherein the circuit structure is covered using a semi-conductor process. 
     The driving device  110  is configured to drive the carrier  10  with a motion parameter and encapsulate the carrier  10  with a wire  20 . In the present specification “wire encapsulating process” refers to winding process, braiding process, and so on. The dynamic correction system  100  of  FIGS. 1A to 1C  is exemplified by a winding system, but the present disclosure is not limited thereto. 
     The path sensor  120  is configured to obtain an actual path information D 1  of the wire  20  encapsulating the carrier  10 . The controller  130  is configured to: (1) obtain an actual path P 1  of the wire  20  encapsulating the carrier  10  according to the actual path information D 1 , (2) obtain an actual path difference ΔP 1  between a target path P 2  and the actual path P 1 ; (3) determine whether the actual path difference ΔP 1  is greater than a real-time error E 1  and, (4) when the actual path difference ΔP 1  is greater than the real-time error E 1 , control the driving device  110  to change the motion parameter to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . To summarize, the dynamic correction system  100  of the present disclosure corrects the wire  20  whose path is not on the target path P 2  (referred as “wire encapsulating defects” in the present specification) during the process of encapsulating the carrier  10  with the wire  20 , and causes the wire  20  having wire encapsulating defects to approach the target path P 2  as much as possible. 
     The target path P 2  can be a simulated path generated using software. The path pattern of the target path P 2  is determined according to actual use of the product, and is not limited in the present disclosure. The target path P 2  can be pre-stored in the controller  130  or a memory (not illustrated), and the controller  130  can access the memory to store, obtain, correct and/or set the target path P 2 . Besides, the real-time error E 1  is in a range of 0.1% to 10% of the actual path difference ΔP 1 . The real-time error E 1  can be pre-stored in the controller  130 , or a memory (not illustrated), and the controller  130  can access the memory to store, obtain, correct, and/or set the real-time error E 1 . 
     In the embodiment, the shape of the carrier  10  can be a bottle, a rod, a sphere, or a cone which can be covered with a wire. In the present embodiment, the carrier  10  includes a first end  11 , a second end  12 , and a carrying portion  13 , wherein the carrying portion  13  is interposed between the first end  11  and the second end  12  and connects the first end  11  and the second end  12 . The outer surface of the first end  11  and/or the second end  12  can be formed of a curved surface, a plane, or a combination thereof, wherein the curved surface can be a spherical surface or other geometric pattern. The outer surface of the carrying portion  13  can be formed of a curved surface (such as a cylindrical surface), a plane or a combination thereof. The present disclosure does not limit the geometric pattern of the carrier  10 , and any geometric pattern would do as long as it meets the needs of the product. 
     In terms of product category, example of the carrier  10  includes but is not limited to a component of a transportation device (such as an aircraft frame, a vehicle frame, or a bicycle frame), a sports equipment (such as a badminton racket, a hockey handle, or a paddle), or an item of livelihood supplies (such as an LPG cylinder, a hydrogen cylinder, an oxygen cylinder, a high-pressure barrier or a high-pressure pipe) that requires high strength performance. The wire  20  can be formed of a composite material, such as carbon fiber or glass fiber possessing the features of lightweight and high strength. After the wire encapsulating process is completed, the carrier  10  covered with the wire  20  is then baked at a high temperature. The wire  20  is formed of a wire body (supporting material) and resin (base material). After encapsulating the carrier  10 , the wire  20  is baked at a high temperature for the resin to be melted and combined with the wire body to form a composite material possessing the feature of high stress resistance. 
     In the present embodiment as indicated in  FIGS. 1B and 1C , the driving device  110  includes a rotation shaft  111  and a robotic arm  112 . For the technical features of the present disclosure to be more clearly illustrated, the path sensor  120  is not illustrated in  FIG. 1B . The rotation shaft  111  drives the carrier  10  to rotate at a rotation angle δ. The robotic arm  112  covers the carrier  10  with the wire  20 . Moreover, the robotic arm  112  can have 6 degrees of freedom, including translating along the X axis, Y axis, and Z axis and rotating around the X axis, Y axis, and Z axis. The robotic arm  112  can translate along the −X axis to encapsulate (or press) the outer surface of the carrier  10  with the wire  20 . When the robotic arm  112  is translated to the first end  11  of the carrier  10 , the rotation shaft  111  can drive the carrier  10  at a rotation angle δ (such as around +X axis) and rotate the other surface of the carrier  10  (the surface of the carrier  10  facing the paper) to face the robotic arm  112 , such that the wire  20  provided by the robotic arm  112  can encapsulate the other surface of the carrier  10 . Then, the robotic arm  112  is translated to the second end  12  of the carrier  10  along the +X axis to encapsulate the outer surface of the carrier  10  with the wire  20  during the translation process. Through the reciprocal translation along the +/−X axis and the reciprocal rotation around the +/−X axis, the robotic arm  112  continuously covers the carrier  10  with more wire  20  until the wire encapsulating operation is completed. 
     In the present embodiment, the said motion parameter is such as the rotation angle δ of the rotation shaft  111 . The controller  130  is further configured to: when the actual path difference ΔP 1  is greater than the real-time error E 1 , control the rotation shaft  111  to change the rotation angle δ to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . According to one of the methods for controlling the rotation angle δ of the rotation shaft  111 , the controller  130  can control the rotation shaft  111  to change the rotation angle δ through reciprocal motion. For example, the controller  130  controls the rotation shaft  111  to reciprocally rotate around the +/−X axis to change the rotation angle δ to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to gradually stabilize and approach the target path P 2 . The present disclosure does not limit the number of times for which the rotation shaft  111  reciprocally rotates around the +/−X axis, and the number of times of reciprocal rotation can be one or more. In another embodiment, the controller  130  can control the rotation shaft  111  to reduce the velocity of rotation and rotate in the same direction or in an inverse direction to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to gradually stabilize and approach the target path P 2 . Furthermore, during the process of correcting wire encapsulating defects, the controller  130  can halt the robotic arm  112  and do not resume the original (predetermined) control mode (rotation angle/velocity) of the robotic arm  112  until the actual path P 1  of the wire  20  encapsulating the carrier  10  approaches the target path P 2 . 
     In another embodiment, the controller  130  predicts a path of the wire  20  encapsulating the carrier  10 , and determines whether to change the motion parameter of the driving device  110  according to the predicted path. 
     For example, the controller  130  is further configured to: (1) predict the predicted path P 3  of the wire  20  encapsulating the carrier  10  according to the actual path P 1 ; (2) obtain a predicted path difference ΔP 2  between the predicted path P 3  and the target path P 2 ; (3) determine whether the predicted path difference ΔP 2  is greater than the prediction error E 2 ; (4) when the actual path difference ΔP 1  is greater than the real-time error E 1  and the predicted path difference ΔP 2  is greater than the prediction error E 2 , control the driving device  110  to change the motion parameter to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . 
     To summarize, even when the predicted path difference ΔP 2  is greater than the prediction error E 2 , if the actual path difference ΔP 1  is smaller than the real-time error E 1 , the controller  130  will not change the motion parameter of the driving device  110 . Thus, with the analysis of predicted path, the number of times for which (or the frequency at which) the driving device  110  changes the motion parameter can be reduced without affecting the correction of wire encapsulating defects. 
     In an embodiment, the prediction error E 2  is greater than the real-time error E 1 , that is, the prediction error E 2  is looser than the real-time error E 1 . The ratio of the real-time error E 1  to the prediction error E 2  is in a range of 0.9 to 0.1, such as 0.5. Also, the prediction error E 2  is in a range of 0.1% to 10% of the predicted path difference ΔP 2 . The prediction error E 2  can be pre-stored in the controller  130  or a memory (not illustrated), and the controller  130  can access the memory to store, obtain, correct, and/or set the prediction error E 2 . 
     Additionally, the timing for correcting wire encapsulating defects according to the present disclosure is: when the wire  20  is located besides the robotic arm  112 . For example, the controller  130  controls the driving device  110  to change the motion parameter before the wire  20  covers the terminal portion S 1  of the carrier  10  (the terminal portion S 1  is illustrated in  FIG. 1B ), such that wire correction can be completed before the other side of the carrier  10  rotates to face the robotic arm  112 . The terminal portion S 1  can be any part of the outer surface of the first end  11 , any part of the outer surface of the second end  12 , or the endmost point of the first end  11  or the second end  12  (closest to the rotation shaft  111 ). 
     In an embodiment, the controller  130  can analyze the actual path P 1  of the wire  20  according to the wire  20 , and the details of analysis are disclosed below. 
     Refer to  FIGS. 2A and 2B .  FIG. 2A  is a schematic diagram of a path image M 1  of wire  20  captured by the path sensor  120  of  FIG. 1B .  FIG. 2B  is a schematic diagram of a to-be-detected area image M 2  of the to-be-detected area  20 A in the path image M 1  of  FIG. 2A . In the present embodiment, the path sensor  120 , such as a video recorder, is configured to capture a path image of the wire  20  encapsulating the carrier  10 . As indicated in  FIG. 1A , the path sensor  120  and the driving device  110  can transmit data in a wireless manner without physical contact. However, depending on the types of the path sensor  120 , the path sensor  120  and the driving device  110  can contact each other and transmit data in a wired manner. The actual path information D 1  is such as a path image captured by the path sensor  120 . The dynamic correction system  100  can have one or more path sensors  120  disposed beside the robotic arm  112  to capture a path image of the wire  20  which is located beside the robotic arm  112  and covers the carrier  10 . However, in another embodiment, at least one path sensor  120  can be disposed opposite to the robotic arm  112  to capture the path image of the wire  20  encapsulating the other side of the carrier  10  (the side of the carrier  10  opposite to the robotic arm  112 ). The present disclosure does not limit the quantity and/or location of the path sensor  120  as long as the detects can be real-time monitored and/or corrected. 
     Besides, the present disclosure does not limit the type of the path sensor  120 . The path sensor  120  can be a 3D scanner, a line laser scanner, a 2D camera, or an ultrasonic ranging device. 
     The controller  130  is further configured to: analyze a path image M 1  to obtain the actual path P 1 . For example, the controller  130  firstly captures a to-be-detected area image M 2  of the to-be-detected area  20 A in the path image M 1  using image processing technique. Then, the controller  130  obtains an actual angle θ′ of the to-be-detected area image M 2  of the to-be-detected area  20 A with respect to a reference axis R 1 . The reference axis R 1  is an axis of the rotation shaft  111 , such as the X axis of  FIG. 1A . For the drawings to be more easily understood, the target path P 2  is represented by dotted lines in  FIG. 2B . The controller  130  uses the difference between the actual angle θ′ and the target angle θ corresponding to the target path P 2  as the actual path difference ΔP 1 . When the difference between the actual angle θ′ and the target angle θ (that is, the actual path difference ΔP 1 ) is greater than the real-time error E 1 , the controller  130  determines that the wire  20  has deviated from the target path P 2 , and controls the driving device  110  to change the motion parameter to correct the wire encapsulating defects. Moreover, the said image processing technology includes Hough transformation and/or region of interest (ROI) technique. 
     Furthermore, the controller  130  can control the driving device  110  using a proportional-integral-derivative (PID) approach. For example, as indicated in formula (1), Kp represents a proportional gain (or proportional controller); Ki represents an integral gain (or integral controller); Kd represents a derivative gain (or derivative controller); e(t) represents an error function, such as the difference between the feedback value (such as the actual angle θ′) and the set value (such as the target angle θ); u(t) represents a control output. In an embodiment, the proportional gain Kp, the integral gain Ki and the derivative gain Kd can be calculated or can be obtained using a simulation software. 
     
       
         
           
             
               
                 
                   
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     A set of proportional gain Kp, integral gain Ki and derivative gain Kd enable the u(t) function for correcting wire encapsulating defects to gradually or quickly enter a stable (or convergent) period from the oscillation period as the time domain moves forwards. Under the PID feedback control mechanism, the controller  130  controls the rotation shaft  111  to reciprocally rotate around the +/−X axis to change the rotation angle δ (corresponding to the oscillation curve in the time domain of the u(t) function) to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to gradually approach the target path P 2  (corresponding to the stable period or the convergent period in the time domain of the u(t) function). 
     In an embodiment, during the wire encapsulating process, the path sensor  120  can capture (photo) the path image M 1  of the wire  20  encapsulating the carrier  10  continuously or every period of time (such as 1 second, or longer or shorter than 1 second). The controller  130  can analyze the path image M 1  captured by the path sensor  120  to continuously monitor the latest state of the wire  20  encapsulating the carrier  10 . 
     Referring to  FIG. 3 , a flowchart of a dynamic correction method of the dynamic correction system  100  of  FIG. 1B  is shown. 
     In step S 110 , the carrier  10  is driven by the driving device  110  with a motion parameter. For example, the carrier  10  is driven by the rotation shaft  111  of the driving device  110  with a motion parameter, such as a rotation angle δ of the rotation shaft  111 . 
     In step S 120 , the carrier  10  is covered with the wire  20  by the driving device  110 . For example, the carrier  10  is covered with the wire  20  by the robotic arm  112  of the driving device  110 . 
     In step S 130 , an actual path information D 1  of the wire  20  encapsulating the carrier  10  is obtained by the path sensor  120 . In an embodiment, the path sensor  120  is such as a video recorder, and the actual path information D 1  is such as a path image M 1  of the wire  20  encapsulating the carrier  10  captured by the path sensor  120 . 
     In step S 140 , an actual path P 1  of the wire  20  encapsulating the carrier  10  is obtained by the controller  130  according to the actual path information D 1 . 
     In step S 150 , an actual path difference ΔP 1  between the target path P 2  and the actual path P 1  is obtained by the controller  130 . 
     In step S 160 , whether the actual path difference ΔP 1  is greater than the real-time error E 1  is determined by the controller  130 . When the actual path difference ΔP 1  is greater than the real-time error E 1 , the method proceeds to step S 170 , when the actual path difference ΔP 1  is not greater than or is equivalent to the real-time error E 1 , the method proceeds to step S 110 . 
     In step S 170 , the motion parameter of the driving device  110  is changed by the controller  130  to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . 
     Additionally, during the process of continuously encapsulating the carrier  10  with the wire  20 , the controller  130  can repeat steps S 130  to S 170  to continuously monitor the state of the wire  20  encapsulating the carrier  10 , and when the wire  20  has encapsulating defects, the controller  130  can immediately correct the path of the wire  20  to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach or even return to the target path P 2 . 
     Referring to  FIG. 4 , another flowchart of a dynamic correction method of the dynamic correction system  100  of  FIG. 1B  is shown. Details of steps S 110  to S 150  of  FIG. 4  are already disclosed, and are not repeated here. The following descriptions of the dynamic correction method start with step S 260 . 
     In step S 260 , a predicted path P 3  of the wire  20  encapsulating the carrier  10  is predicted by the controller  130  according to the actual path information D 1 . 
     In step S 270 , a predicted path difference ΔP 2  between the predicted path P 3  and the target path P 2  is obtained by the controller  13 . 
     In step S 160 , determine whether the actual path difference ΔP 1  is greater than the real-time error E 1  is determined by the controller  130 . When the actual path difference ΔP 1  is greater than the real-time error E 1 , the method proceeds to step S 280 ; when the actual path difference ΔP 1  is not greater than or is equivalent to the real-time error E 1 , the method returns to step S 110 . 
     In step S 280 , whether the predicted path difference ΔP 2  is greater than the prediction error E 2  is determined by the controller  130 . The controller  130  uses the difference between the prediction angle θ″ (the prediction angle θ″ is illustrated in  FIG. 2B ) and the target angle θ corresponding to the target path P 2  as the predicted path difference ΔP 2 . As indicated in  FIG. 2B , the prediction angle θ″ is the angle between the predicted path P 3  and the reference axis R 1 . The predicted path P 3  of  FIG. 2B  is for illustrative purpose only, and may not be illustrated in the actual to-be-detected area image M 2 . When the predicted path difference ΔP 2  is greater than the prediction error E 2 , the method proceeds to step S 170 ; when the predicted path difference ΔP 2  is not greater than or is equivalent to the prediction error E 2 , the method returns to step S 110 . 
     To summarize, the controller  130  changes the motion parameter of the driving device  110  only when the actual path difference ΔP 1  is greater than the real-time error E 1  and the predicted path difference ΔP 2  is greater than the prediction error E 2 . In other words, even when the predicted path difference ΔP 2  is greater than the prediction error E 2 , if the actual path difference ΔP 1  is smaller than the real-time error E 1 , the controller  130  will not change the motion parameter of the driving device  110 . Thus, with the analysis of predicted path, the number of times for which (or the frequency at which) the driving device  110  changes the motion parameter can be reduced without affecting the correction of wire encapsulating defects. 
     Also, during the process of continuously encapsulating the carrier  10  with the wire  20 , the controller  130  can repeat steps S 130  to S 150 , S 260 , S 270 , S 160 , S 280  and S 170  to continuously monitor the state of encapsulating the carrier  10  with the wire  20 , and when the wire  20  has encapsulating defects, the path of the wire  20  can be immediately corrected to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach or even return to the target path P 2 . 
     In the above embodiments, the dynamic correction method is used in a winding system for an exemplary purpose. However, the dynamic correction method can also be used in a braiding system. Refer to the descriptions of  FIG. 5 . 
     Refer to  FIG. 5 , a partial diagram of a dynamic correction system  200  of a manufacturing process using wire according to another embodiment of the present disclosure is shown. The dynamic correction system  200  is exemplified by a braiding system. 
     The dynamic correction system  200  includes a driving device  210 , a path sensor  120 , and a controller  130 . The features of the dynamic correction system  200  of the present embodiment are similar to that of the dynamic correction system  100  except that the structure of the driving device  210  of the dynamic correction system  200  is different from that of the driving device  110 . 
     In the present embodiment, the driving device  210  includes a braiding ring  211 , a robotic arm  212 , and at least one wire provider  213 . The robotic arm  212  is configured to drive the carrier  10  with a motion parameter. The braiding ring  211  is configured to encapsulate the carrier  10  with the wire  20 . At least one wire provider  213  surrounds the inner peripheral surface  211   s  of the braiding ring  211  to provide the wire  20  to the carrier  10 . When the braiding ring  211  rotates around the Z axis (the + or −Z axis), the braiding ring  211  drives the wire provider  213  to rotate around the Z axis and cause the wire  20  on the wire provider  213  to be braided on the outer surface of the carrier  10 . Moreover, the robotic arm  212  can have 6 degrees of freedom, including translating along the X axis, Y axis, and Z axis and rotating around the X axis, Y axis, and Z-ax. 
     Like the said driving device  110 , the driving device  210  of the present embodiment is configured to drive the carrier  10  with a motion parameter and to encapsulate the carrier  10  with the wire  20 . The path sensor  120  is configured to obtain an actual path information D 1  of the wire  20  encapsulating the carrier  10 . The controller  130  is configured to: (1) obtain the actual path P 1  of the wire  20  encapsulating the carrier  10  according to the actual path information D 1 , (2) obtain an actual path difference ΔP 1  between the target path P 2  and the actual path P 1 ; (3) determine whether the actual path difference ΔP 1  is greater than the real-time error E 1  and, (4) when the actual path difference ΔP 1  is greater than the real-time error E 1 , control the driving device  210  to change the motion parameter to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . To summarize, the dynamic correction system  200  of the present disclosure can correct the wire  20  whose path is not on the target path P 2  (the wire encapsulating defects) during the wire encapsulating process and cause the wire  20  having wire encapsulating defects to return to the predetermined target path P 2  as much as possible. 
     In the present embodiment, the said motion parameter can be a feeding velocity V of the robotic arm  212 , such as the translating velocity along the +/−Z axis. The controller  130  is further configured to: when the actual path difference ΔP 1  is greater than the real-time error E 1 , control the robotic arm  212  to change the feeding velocity V to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to approach the target path P 2 . According to one of the methods for controlling the feeding velocity V of the robotic arm  212 , the controller  130  can control the robotic arm  212  to change the feeding direction through reciprocal motion. For example, the controller  130  controls the robotic arm  212  to change the feeding direction along the +/−the Z axis reciprocally to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to gradually stabilize and approach the target path P 2 . The present disclosure does not limit the number of times for which the robotic arm  212  reciprocally rotates around the +/−Z axis, and the number of times of reciprocal rotation can be one or more. In another embodiment, the controller  130  can control the robotic arm  212  to reduce the feeding velocity and rotate in the same direction or in an inverse direction to cause the actual path P 1  of the wire  20  encapsulating the carrier  10  to gradually stabilize and approach the target path P 2 . Furthermore, during the process of correcting wire encapsulating defects, the controller  130  can halt the braiding ring  211 . Furthermore, during the process of correcting wire encapsulating defects, the controller  130  can halt the robotic arm  112  and do not resume the original (predetermined) control mode (rotation velocity) of the braiding ring  211  until the actual path P 1  of the wire  20  encapsulating the carrier  10  approaches the target path P 2 . 
     Like the analysis performed by the dynamic correction system  100 , in the present embodiment, the controller  130  can analyze the actual path P 1  of the wire  20  according to the angle of the wire  20 . As indicated in  FIG. 5 , the wire  20  has an actual angle θ′ with respect to a reference axis R 2 , which can be the +/−Y axis, or any geometric reference on the carrier  10 . The controller  130  can analyze a path image M 1  (not illustrated) captured by the path sensor  120  to obtain the actual angle θ′. Then, the controller  130  uses the difference between the actual angle θ′ and the target angle θ (not illustrated) corresponding to the target path P 2  as the actual path difference ΔP 1 . When the difference between the actual angle θ′ and the target path P 2  is greater than the real-time error E 1 , the controller  130  determines that the wire  20  has deviated from the target path P 2 , and or immediately controls the driving device  210  to change its motion parameter to correct the wire encapsulating defects. 
     Moreover, the dynamic correction system  200  can correct the wire encapsulating path using the method disclosed in  FIGS. 3 and 4  except that the motion parameter controlled by the dynamic correction system  200  is the feeding velocity V of the robotic arm  212 . 
     While the invention has been described by way of example and in terms of the preferred embodiment (s), it is to be understood that the invention is not limited thereto. On the contrary, it is intended to encapsulate various modifications and similar arrangements and procedures, and the scope of the appended claims therefore should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements and procedures.