Multi-Component End Effector Path Planning With Distance Heuristics
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Solution Overview
Problem
Conventional methods for programming robotic systems to perform tasks on and near surfaces are computationally intensive and not feasible for large or complex multi-component end effectors moving near curvilinear surfaces, lacking efficient solutions for selecting a path that maintains end effector elements within a target distance range.
Innovation Solution
A method that involves providing a discretized continuous tool centerpoint path with spaced-apart waypoints, determining and updating distance heuristics for end effector elements to ensure they remain within a target distance range, and selecting the path based on these heuristics, allowing the multi-component end effector to move relative to the surface while adapting to its shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional programming methods are used for robotic systems to perform tasks on and near surfaces, then the system can maintain precise control of end effectors, but the computational intensity becomes excessive and infeasible for large or complex end effectors on curvilinear surfaces
Solution Approach 1:
The continuous tool centerpoint path is discretized into a finite sequence of waypoints. This segmentation transforms the continuous control problem into a discrete optimization problem, reducing computational intensity while maintaining control precision through strategic waypoint selection and distance heuristic calculations.
Solution Approach 2:
Distance heuristics are pre-calculated for each waypoint to quantify the fraction of end effector elements within the target distance range. This preliminary computation avoids repeated complex calculations during path execution, significantly reducing real-time computational burden while preserving control accuracy.
2Productivity
If the end effector moves close to the surface to perform tasks, then task performance is improved, but the risk of collision increases and requires complex constraint management
Solution Approach 1:
Distance heuristics provide continuous feedback about the proximity of end effector elements to the surface at each waypoint. This feedback mechanism enables real-time assessment of collision risk and allows the system to adjust the path selection to maintain safe operating distances while performing tasks close to the surface.
Solution Approach 2:
The method calculates distance heuristics for all end effector elements rather than just the tool centerpoint. This excessive action ensures that even peripheral elements remain within safe distance ranges, reducing collision risk while enabling close-proximity task performance.
3Adaptability or versatility
If the end effector is designed to be large or complex to perform diverse tasks, then task versatility is improved, but the computational complexity of path planning increases significantly
Solution Approach 1:
The complex end effector is treated as a collection of discrete elements, each with its own distance heuristic calculation. This segmentation allows the system to manage computational complexity by processing individual element positions rather than treating the entire complex structure as a single entity.
Solution Approach 2:
The method transforms the complex multi-body kinematics problem into a series of simpler distance parameter calculations. By focusing on distance heuristics rather than full kinematic simulations, the system reduces computational complexity while maintaining the ability to handle large, complex end effectors with multiple degrees of freedom.
Data Source
AI summary
Methods for selecting a path of a multi-component end effector along a surface, robots that perform the methods, and storage media that directs robots to perform the methods. The multi-component end effector is attached to a robot, which is configured to move the multi-component end effector along the surface on a continuous tool centerpoint path (TCP). The multi-component end effector includes a plurality of end effector elements configured to move relative to one another. The method includes providing a discretized TCP that includes a plurality of spaced-apart waypoints along the continuous TCP. The method also includes determining a plurality of distance heuristics. The method further includes updating the plurality of distance heuristics to define a plurality of updated distance heuristics. The method also includes selecting the path of the multi-component end effector along the surface based upon the plurality of updated distance heuristics.