Multi-Component End Effector Path Selection on Curved Surfaces
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Solution Overview
Problem
Conventional methods for programming robotic systems to perform tasks on or near surfaces, especially with large and complex multi-component end effectors, are computationally intensive and not feasible for large, curvilinear surfaces.
Innovation Solution
A method for selecting a path of a multi-component end effector along a surface using a continuous tool centerpoint path, involving a discretized TCP with distance heuristics and updates to determine a feasible path that maintains end effector elements within a target distance range from the surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional programming methods are used for robotic systems with multi-component end effectors on large curvilinear surfaces, then the system can maintain precision and control, but the computational complexity becomes intractable and the method is not feasible
Solution Approach 1:
The patent segments the continuous tool centerpoint path into discrete waypoints, and further segments the end effector into multiple independent components. This segmentation allows the system to evaluate distance heuristics at discrete points rather than continuously, dramatically reducing computational complexity while maintaining path selection accuracy for large curvilinear surfaces
Solution Approach 2:
The patent introduces distance heuristics as a new parameter to evaluate end effector-surface proximity, replacing complex continuous constraint satisfaction problems. By discretizing the path and using heuristic distance calculations at waypoints, the system transforms an intractable continuous optimization problem into a manageable discrete evaluation process
2Manufacturing precision
If the end effector maintains close proximity to the surface without physical contact, then task precision is improved, but the risk of collision and violation of physical constraints increases
Solution Approach 1:
The patent performs preliminary evaluation of distance heuristics at each waypoint before the robot executes the path. By calculating and storing feasible relative orientations in advance, the system ensures that the end effector maintains safe proximity to the surface without requiring real-time collision detection, thus improving both precision and reliability
Solution Approach 2:
The system uses distance heuristics as a feedback mechanism to continuously monitor and adjust the end effector's relative orientation at each waypoint. This feedback ensures that the end effector remains within safe distance bounds while maintaining close proximity for precise task execution, balancing precision and collision avoidance
3Adaptability or versatility
If the end effector components move independently within command space, then adaptability to surface geometry is improved, but the complexity of coordinating multiple components increases
Solution Approach 1:
The patent segments the end effector into multiple independent components that can move within a command space relative to the tool centerpoint. Each component's motion is evaluated independently using distance heuristics, allowing adaptability to complex surface geometries while avoiding the complexity of coordinated multi-component control through discrete waypoint evaluation
Solution Approach 2:
The system evaluates all possible relative orientations of end effector components at each waypoint (excessive action), then selects only the feasible ones based on distance heuristics. This approach ensures maximum adaptability to surface geometry while managing coordination complexity by filtering orientations rather than computing full coordination trajectories
Data Source
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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.