Cooperative Robot Control for Heavy Object Handling
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Solution Overview
Problem
Conventional robotic arms are limited in handling large, heavy, or awkwardly shaped objects, as they are typically rated for the maximum size and weight they can manage, and may struggle with payloads that exceed these limits, necessitating a system that can coordinate multiple robots to perform tasks cooperatively.
Innovation Solution
A robotic system that allows two or more robots to work cooperatively, with a leader robot planning the motion trajectory and follower robots synchronizing their end-effector positions and orientations to grasp and move large or heavy objects, using suction or gripper end effectors and operational-space control to maintain contact forces and prevent slippage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single robotic arm is used to handle objects, then the system is simple and easy to control, but it cannot handle objects that exceed its maximum size, weight, or difficulty rating
Solution Approach 1:
The patent combines multiple robotic arms into a cooperative system where they work together to handle objects that exceed the capabilities of a single arm. The controller coordinates the movements of multiple robotic arms to collectively grasp, lift, and position heavy or large objects, thereby expanding the handling capability beyond what any individual arm could achieve alone.
2Reliability
If a robotic arm is rated for maximum size and weight, then it can handle standard objects, but it fails when objects exceed these ratings
Solution Approach 1:
The cooperative robotic system provides multi-functionality by enabling the same robotic arms to handle both standard objects within their individual ratings and oversized or overweight objects through coordinated teamwork. The system adapts its configuration based on object characteristics, switching between single-arm and multi-arm operation modes to maintain reliable handling across a universal range of object sizes and weights.
3Adaptability or versatility
If multiple robots are coordinated to work together, then larger and heavier objects can be handled, but the control system becomes more complex
Solution Approach 1:
The controller serves as an intermediary that manages the coordination between multiple robotic arms. It receives commands for object handling, calculates the appropriate distribution of tasks and forces among the robotic arms, and sends coordinated control signals to each arm. This intermediary control layer simplifies the overall system management by abstracting the complexity of multi-robot coordination into a centralized decision-making process.
Data Source
AI summary
A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.