Dual-Manipulator Control Using Centralized Collision-Aware Sequencing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The efficiency of single intelligent devices is lower compared to multi-intelligent devices working together, necessitating a method for effective coordination and control of dual-manipulator systems to enhance work efficiency.
Innovation Solution
A dual-manipulator control method is introduced, where a central control module generates and executes instruction sequences to control both manipulators, utilizing a hierarchical convolutional network and attention-based coding to accurately identify object positions and plan cooperative operation paths, minimizing collisions and optimizing object movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If single intelligent device is used, then device complexity is low, but productivity is low
Solution Approach 1:
The system divides the control of multiple manipulators into separate instruction sequences for each manipulator (first instruction sequence for first manipulator, second instruction sequence for second manipulator), allowing independent control while maintaining overall coordination through the central control module
Solution Approach 2:
A central control module is introduced as an intermediary to coordinate multiple manipulators. The central control module generates and manages instruction sequences for each manipulator, enabling efficient multi-device coordination without requiring complex direct peer-to-peer communication between manipulators
2Productivity
If dual manipulators operate simultaneously, then productivity increases, but collision risk increases
Solution Approach 1:
The system performs preliminary path planning and collision detection before executing manipulator movements. The central control module generates complete instruction sequences in advance, detecting potential collisions and adjusting paths beforehand to prevent collisions during simultaneous operation
Solution Approach 2:
The system monitors the operational state of multiple manipulators in real-time and adjusts instruction sequences dynamically. When potential collisions are detected during execution, the central control module modifies the instruction sequences to resolve conflicts while maintaining productive operation
Data Source
AI summary
A dual-manipulator control method is configured to be used in a dual-manipulator control system including a first manipulator, a second manipulator, and a central control module. The first manipulator and the second manipulator are controlled by the central control module, and the central control module is configured to execute the dual-manipulator control method. The dual-manipulator control method includes: generating a first instruction sequence to control the first manipulator and a second instruction sequence to control the second manipulator; and controlling the first manipulator and the second manipulator based on the first instruction sequence and the second instruction sequence. Thus, the working efficiency is improved.