Manipulator Control Method for Dynamic Trajectory Planning
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Solution Overview
Problem
Existing methods for automating handling devices in industrial manufacturing processes face challenges in predicting and programming complex movements, leading to high programming efforts and limited flexibility, especially when trajectories need to be calculated at runtime and are influenced by changing conditions.
Innovation Solution
The method subdivides movements into object-related interaction movements and location-related transfer movements, with interaction movements being pre-planned and transfer movements calculated dynamically at runtime based on detected object positions and orientations, using data from processing stations to implicitly derive necessary parameters for trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If traditional programming approaches with pre-defined motion sequences are used, then programming effort is high, but the system can handle predictable manufacturing processes
Solution Approach 1:
The patent segments motion planning into two distinct phases: offline task planning (defining interaction movements and processing stations) and online trajectory generation (calculating transfer movements during execution). This segmentation allows the system to handle unpredictable conditions dynamically while maintaining structured task definitions, thereby reducing programming effort for complex adaptable processes.
Solution Approach 2:
The patent implements dynamic trajectory generation where transfer movements are calculated in real-time during execution based on current system state and detected conditions. This dynamic approach enables the handling device to adapt to changing manufacturing conditions without requiring extensive re-programming, thus improving versatility while reducing programming effort.
2Adaptability or versatility
If trajectories are calculated during execution to handle unpredictable conditions, then flexibility increases, but programming complexity increases
Solution Approach 1:
The patent performs preliminary offline planning to define interaction movements, processing stations, and task sequences before execution. This preliminary action prepares the necessary framework and parameters, so that during execution, only the transfer movements need to be dynamically calculated based on detected conditions, thereby reducing the complexity of real-time programming while maintaining flexibility.
3Ease of manufacture
If pre-defined motion sequences are used, then programming is simpler, but the system cannot adapt to changing conditions at runtime
Solution Approach 1:
The patent incorporates feedback mechanisms where the handling device continuously detects its current state and environmental conditions during execution. This feedback information is used to dynamically adjust and recalculate transfer movements in real-time, enabling the system to adapt to changing conditions while maintaining the simplicity of pre-defined task structures for interaction movements.
Data Source
Figure 1~2
AI summary
The invention relates to a method for the automated control of the movements of a handling device (20), wherein the movements are divided into predetermined, object-related interaction movements (3) and location-related transfer movements (4), wherein an object position and/or an object orientation is detected, wherein the handling device (20) is controlled to perform an interaction movement (3) relative to the detected object position and/or object orientation, wherein a position and/or orientation of the handling device (20) is detected, wherein a trajectory to a transfer movement (4) between a start position and a target position is determined, and wherein the handling device (20) is controlled to perform the transfer movement along the determined trajectory.