Robot Kinematic Position Monitoring With Simplified Geometry
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Solution Overview
Problem
Existing collision monitoring methods in robotics are computationally expensive, leading to high reaction times in shared workspaces, which can result in delayed responses to critical situations due to the need for calculating intersection points between three-dimensional geometric bodies.
Innovation Solution
The method models kinematic systems using zero- or one-dimensional kinematic objects, modifying monitoring areas by adjusting geometric variables based on derived distances from predefined parameters, eliminating the need for calculating intersection points between three-dimensional objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional geometric bodies are used to model robot parts and workspace boundaries for collision monitoring, then measurement precision and reliability are improved, but computational effort increases significantly leading to longer reaction times
Solution Approach 1:
The patent reduces the dimensionality of geometric models from three-dimensional bodies to simpler zero-dimensional points or one-dimensional lines representing robot parts. This dimensional reduction dramatically decreases computational complexity while maintaining adequate monitoring capability by checking if these simplified representations penetrate safety zones or leave workspaces.
Solution Approach 2:
The patent changes the geometric parameters used for modeling from full three-dimensional shapes to simplified representations characterized by fewer parameters (point coordinates or line segments). This parameter simplification reduces the computational burden of intersection calculations while preserving the essential spatial relationships needed for collision detection.
2Measurement precision
If complex three-dimensional geometric models are used for monitoring, then monitoring precision is improved, but device complexity and computational requirements increase
Solution Approach 1:
The patent segments the robot kinematic chain into discrete parts (links and joints) and represents each part with simplified zero-dimensional or one-dimensional geometric objects. This segmentation allows independent monitoring of each component without requiring complex full-robot three-dimensional modeling, reducing overall computational complexity.
Solution Approach 2:
The patent creates simplified geometric copies (points or lines) that represent the essential spatial characteristics of actual robot parts. These simplified copies are used for monitoring purposes instead of the full three-dimensional models, providing adequate positional information with much lower computational requirements.
Data Source
Figure 1
Figure 2a~2d
Figure 3a~3e
AI summary
In order to detect that working areas (WS) are being left or safety areas (SS) are being entered by kinematics (1) with less computational effort and therefore more quickly, at least part of the kinematics (1) is equipped with a number of kinematics objects (K1, K2 ,K3,K4) is modeled and a monitoring area (S) to be monitored is specified. The number of kinematic objects (K1,K2,K3,K4) is modeled with a dimension D<2, for each modeled kinematic object (K1,K2,K3,K4). a geometric size of a surveillance area (S) changed by a distance (d1,d2,d3,d4). The distance (d1,d2,d3,d4) is derived from at least one geometric parameter (P1,P2,P3) of the modeled kinematic object (K1,K2,K3,K4). The position of the number of kinematic objects (K1,K2,K3,K4) is checked in relation to the changed monitoring areas (S1,S2,S3,S4).