Robot Stirring Control From Edge to Center for Reliable Object Holding

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Solution Overview

Problem

Existing techniques for stirring randomly placed objects with a robot are inefficient and prone to interference, leading to unsuccessful holding and increased operation time.

Innovation Solution

A robot control device and method that controls a robot to sequentially hold and stir randomly placed objects in a container, moving the stirrer from the edge toward the center, reducing interference and improving holding success.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the robot stirs objects from the center of the container, then the stirring action is straightforward, but interference between the robot and objects occurs leading to unsuccessful holding

Engineering Contradiction:

Improveholding success rateVSAvoidinterference between robot and objects

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent inverts the conventional stirring approach by making the robot move from the edge of the container toward the center, rather than from the center outward. This inversion of motion direction eliminates interference between the robot and randomly placed objects, allowing successful holding and stirring operations without collision or obstruction issues

Inventive Principle:

Principle #13The other way round (Inversion)

2Productivity

If the robot uses a conventional stirring motion, then the operation is simple, but operation interruptions increase due to interference

Engineering Contradiction:

Improveoperation efficiencyVSAvoidoperation time

Core Design Contradiction:

ProductivityVSDuration of action of moving object

Solution Approach 1:

By inverting the stirring motion to proceed from the edge toward the center, the patent eliminates operation interruptions caused by interference. This allows continuous, uninterrupted stirring operations that improve productivity while reducing total operation time despite the reversed motion path

Inventive Principle:

Principle #13The other way round (Inversion)

3Reliability

If the robot sequentially holds each object, then precise control is maintained, but operation time increases due to interference and interruptions

Engineering Contradiction:

Improveholding accuracyVSAvoidoperation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The inverted motion approach from edge to center maintains precise sequential holding control while eliminating interference-related interruptions. This allows the robot to hold and transfer each object successfully on the first attempt without retries, reducing time loss while preserving holding accuracy

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentEP4644060A1Robot control device, robot, mixing method, and program

Publication Date: 2025.11.05 KYOCERA CORP

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AI summary

A robot control device includes a controller. The controller controls a robot configured to perform an operation of sequentially holding each of a plurality of holding target objects in a container and a stirring process of stirring the plurality of holding target objects. The controller controls the robot to stir the plurality of holding target objects in the container from an edge of the container toward a center of the container in the stirring process.