Manipulator Handover Control for Continuous Object Transfer
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Solution Overview
Problem
Existing robots face challenges in smoothly transferring objects to humans due to the need for delicate control based on the object's characteristics and the situation or behavior of the transfer target, leading to potential drops or spills from sudden changes in displacement during transfer.
Innovation Solution
An information processing device with a control unit that maintains continuity of the moving speed of an object when transferring it to a transfer target person, using sensors to detect grip force changes and slip amounts to optimize the transfer operation, and incorporating machine learning to adapt to varying conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the manipulator transfers the object quickly to improve productivity, then the transfer speed increases, but the object may experience sudden displacement changes causing drops or spills
Solution Approach 1:
The manipulator dynamically adjusts its movement characteristics during object transfer. The control unit modifies the manipulator's speed and acceleration profiles in real-time to maintain object stability while achieving efficient transfer. This dynamic control allows the system to optimize both transfer speed and reliability by adapting motion parameters to the specific transfer situation.
Solution Approach 2:
The system uses sensors to detect object state and manipulator position during transfer, feeding this information back to the control unit. Based on this feedback, the control unit adjusts control commands to maintain continuous moving speed and prevent sudden displacement changes. This closed-loop control ensures both high transfer efficiency and reliable object delivery.
2Reliability
If the manipulator maintains continuous moving speed to ensure object stability, then the transfer smoothness improves, but the transfer time may increase
Solution Approach 1:
The control unit dynamically changes motion parameters such as speed, acceleration, and jerk during the transfer process. By optimizing these parameters in real-time, the system achieves smooth object transfer without excessive transfer time. The parameter adjustments allow the manipulator to maintain stability while minimizing transfer duration.
Solution Approach 2:
The system employs dynamic motion control that adapts the manipulator's movement characteristics during transfer. This dynamic approach allows the system to maintain continuous moving speed for stability while using optimized acceleration and deceleration profiles to minimize overall transfer time, balancing reliability and efficiency.
3Manufacturing precision
If the manipulator uses delicate control to prevent object drops, then the transfer precision improves, but the control complexity increases
Solution Approach 1:
The system replaces complex mechanical control mechanisms with intelligent control algorithms implemented in the control unit. The control unit processes sensor data and generates appropriate control commands using software-based solutions, reducing mechanical complexity while achieving high transfer precision through computational control strategies.
Solution Approach 2:
The control system uses sensor feedback to automatically adjust and optimize the transfer process without external intervention. The control unit self-regulates the manipulator's movements based on real-time object state information, achieving precise control while keeping the control architecture relatively simple through autonomous decision-making.
Data Source
AI summary
It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.