Holding Control Positioning to Avoid Adjacent Cargo Contact
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Solution Overview
Problem
Existing holding devices struggle to selectively hold a target object among multiple adjacent objects without coming into contact with other objects, leading to potential damage or unintentional holding and conveying of adjacent objects.
Innovation Solution
A control device calculates a first position to hold an object and determines if contact with another object is possible, then calculates a second position where the holding device only contacts the target object by adjusting its position based on measurements and measurement errors, ensuring the holding device can selectively hold the target object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the holding device is positioned to hold the target object, then the holding device can grasp the target object, but it may also come into contact with adjacent objects causing unintentional holding or damage
Solution Approach 1:
The control device performs preliminary calculation of a safe holding position before the holding device is positioned. By calculating the first position based on object measurements and potential contact regions, the system proactively prevents contact with adjacent objects before the holding operation begins, ensuring selective holding without harmful contact.
2Measurement precision
If the holding device uses a larger holding region to accommodate measurement errors, then it can reliably hold the target object, but it increases the risk of contacting adjacent objects
Solution Approach 1:
The system calculates the first position in advance, taking into account measurement errors and the size of the holding region. By determining a position that accounts for these factors beforehand, the system ensures that even with measurement variations, the holding device will not contact adjacent objects, thus resolving the contradiction between reliable holding and avoiding harmful contact.
Data Source
AI summary
According to one embodiment, a control device controls a holding device capable of holding an object. The control device calculates a first position at which a first object is held by the holding device. The control device determines whether the holding device is capable of coming into contact with another object when the holding device is present at the first position. In a case where the holding device is capable of coming into contact with the other object, the control device calculates a second position at which the holding device comes into contact with the first object and does not come into contact with the other object.