Dual-Manipulator Path Control for Collision-Free Coordination
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Solution Overview
Problem
Existing intelligent device systems struggle to efficiently coordinate the movements of multiple manipulators to avoid interference and maximize work efficiency.
Innovation Solution
A dual-manipulator control method and system that utilizes a central control module to generate and execute instruction sequences for two manipulators, employing image processing and neural networks to determine object positions and plan operation paths that minimize collisions and optimize synchronization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple manipulators are used to increase work efficiency, then productivity is improved, but the risk of interference and collision between manipulators increases
Solution Approach 1:
The workspace is divided into multiple interference regions and non-interference regions. The central control module segments the task planning into region-specific operations, assigning manipulators to specific regions to minimize interference while maximizing parallel productivity.
Solution Approach 2:
A central control module is introduced as an intermediary between multiple manipulators. This mediator coordinates task assignment, monitors real-time positions, and adjusts operation sequences to prevent collisions while maintaining high productivity through optimized parallel operations.
2Device complexity
If manipulators operate independently to simplify control, then device complexity is reduced, but coordination efficiency and productivity decrease
Solution Approach 1:
The central control module serves multiple functions: task reception, workspace segmentation, interference region identification, real-time position monitoring, and operation sequence adjustment. This multi-functional approach consolidates coordination complexity into a single unit while enabling efficient manipulator collaboration.
Solution Approach 2:
The system implements real-time feedback through position monitoring of manipulators and dynamic adjustment of operation sequences. The central control module continuously receives status information and modifies task assignment to prevent collisions and optimize productivity based on current system state.
3Reliability
If detailed interference region monitoring is implemented to avoid collisions, then reliability is improved, but computational complexity and control system complexity increase
Solution Approach 1:
The workspace is pre-segmented into interference and non-interference regions before operation. This segmentation allows the control system to use simplified region-based rules rather than complex continuous collision detection, reducing computational complexity while maintaining reliable collision avoidance.
Solution Approach 2:
Interference regions are identified and task assignments are planned in advance based on pre-defined workspace segmentation. By performing preliminary analysis of potential interference zones and pre-planning operation sequences, the system avoids the need for complex real-time calculations while ensuring collision-free operation.
Data Source
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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.