Robot Gripper Action Series for Diverse Object Positioning

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Solution Overview

Problem

Existing robot technologies face limitations in accurately positioning diverse target objects due to restrictions on the shape of the target object, which affects the precision of grasping and performing assembly tasks with a gripper.

Innovation Solution

A generation device that includes a processor configured to generate an action series for a robot, comprising combinations of actions such as grasping, placing, and pushing the target object, using a gripper, to reduce pose uncertainty and achieve accurate positioning, employing a breadth-first search method and uncertainty estimation to select optimal action conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If existing robot technologies are used for positioning task sites, then the positioning can be performed for specific object shapes, but the positioning accuracy deteriorates for diverse target objects with different shapes

Engineering Contradiction:

Improveadaptability to diverse target objectsVSAvoidpositioning accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system changes the parameters of the gripper's actions (grasping, placing, pushing) to adapt to different target object shapes. By generating action series with varying conditions such as grasp position, place position, and push direction, the system achieves accurate positioning for diverse objects without requiring shape-specific programming

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system dynamically generates action series based on the target object's shape characteristics. Rather than using fixed positioning methods, the system adapts the sequence of gripper actions (grasp→place→push) according to the object's geometry, enabling accurate positioning for various shapes including L-shaped and irregular objects

Inventive Principle:

Principle #15Dynamics

2Measurement precision

If the gripper performs simple grasping actions, then the device complexity is low, but the positioning precision deteriorates for diverse target objects

Engineering Contradiction:

Improvepositioning precisionVSAvoidaction series complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The positioning task is segmented into multiple discrete actions: grasping the target object, placing it on a support surface, and pushing it to the final position. This segmentation allows the system to achieve precise positioning through a sequence of simple, controllable gripper actions rather than requiring complex single-step operations

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The support surface acts as an intermediary element that facilitates precise positioning. By placing the target object on the support surface and then pushing it to the desired position, the system achieves accurate positioning without requiring the gripper to directly manipulate the object to its final position, simplifying the control complexity

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS20240280965A1Generation device, generation method, and non-transitory recording medium stored with generation program

Publication Date: 2024.08.22 OMRON CORP

AI summary

A generation device that includes: a memory, and a processor coupled to the memory, the processor being configured to generate an action series for performing positioning on a target object, the action series including two or more combinations of at least one of a first action of grasping the target object using a gripper of a robot, a second action of placing the target object grasped by the gripper on a support surface, or a third action of pushing the target object with the gripper.