Gripping Position Estimation for Misaligned Sensor and Holder Directions
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Solution Overview
Problem
Existing robotic systems face challenges in accurately estimating the gripping position of objects, especially when the acquisition direction and gripping direction do not coincide, leading to instability and inefficiency in object handling.
Innovation Solution
An estimation device and method that acquire information on a holding target object, calculate directional deviation between the acquisition and gripping directions, and adjust the estimated holding position based on this deviation to ensure accurate gripping, using an inference model that considers the acquisition point and directional alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the gripping position is estimated based only on object information without considering acquisition direction, then the estimation process is simple, but the gripping accuracy deteriorates when acquisition direction and gripping direction do not coincide
Solution Approach 1:
The system changes the parameter of directional deviation between acquisition direction and gripping direction. When the deviation exceeds a threshold, the system switches from simple object-based estimation to acquisition-point-based estimation, thereby adapting the estimation method to the directional relationship between sensor and gripper
Solution Approach 2:
The estimation method dynamically adjusts based on the directional deviation angle. The system determines whether to use acquisition point information by comparing the deviation angle against a threshold, making the estimation process adaptive rather than static
2Power
If the gripping position is estimated without considering directional deviation, then the computational load is low, but the gripping stability deteriorates
Solution Approach 1:
The system monitors the directional deviation parameter and changes the estimation approach based on whether this parameter satisfies a predetermined condition. This selective approach ensures reliability only when necessary, avoiding unnecessary computational overhead
3Measurement precision
If the system always uses acquisition point for estimation, then the gripping accuracy improves, but the device complexity increases
Solution Approach 1:
The system applies different estimation qualities locally based on directional conditions. When directional deviation is small, simple estimation suffices; when deviation is large, the more accurate acquisition-point-based estimation is applied. This local adaptation optimizes accuracy without universally increasing complexity
Data Source
AI summary
An estimation device includes an acquirer and a controller. The acquirer acquires information on a holding target object to be held by a holder. The controller estimates a holding position at which the holder is caused to hold the holding target object, based on the information on the holding target object in consideration of an acquisition point of the information on the holding target object.