Robotic Manipulator Zone Group Selection for Singularity Avoidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for controlling robotic manipulators are challenging due to the difficulty in manually defining optimal zones, such as fly-by, reorientation, and secondary zones, which can lead to suboptimal performance, increased cycle time, and risk of singularity, especially in applications like conveyor tracking where zone sizes need to be carefully balanced.
Innovation Solution
A method that evaluates and selects alternative zone groups based on performance parameters like execution time, wear, force, torque, and singularity risk, using an algorithm that provides and optimizes zone definitions automatically, allowing for improved movement path planning and control of robotic manipulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If large fly-by zones are selected to obtain smooth movement path, then motion smoothness is improved, but cycle time increases and risk of entering singularity increases
Solution Approach 1:
The system dynamically adjusts zone parameters (fly-by zone size, reorientation zone size, secondary zone size) based on real-time evaluation of performance values, allowing the movement path to adapt between smoothness and speed requirements for different segments of the trajectory
Solution Approach 2:
The control system changes multiple parameters simultaneously (zone sizes, blending factors, interpolation methods) to optimize the movement path, evaluating different parameter combinations to find the best balance between smoothness and cycle time
2Stability of the object's composition
If large fly-by zones are selected to obtain smooth movement path, then motion smoothness is improved, but risk of entering singularity increases
Solution Approach 1:
The system calculates performance values that include singularity risk assessment and uses this feedback to adjust zone parameters, preventing the manipulator from entering singularities while maintaining motion smoothness where possible
Solution Approach 2:
The control system proactively identifies and prevents singularity conditions by evaluating performance values before executing movement segments, adjusting zone definitions in advance to avoid harmful states
3Adaptability or versatility
If zones are defined manually by human user, then flexibility in customization is improved, but definition accuracy and optimality deteriorate
Solution Approach 1:
The control system automatically generates and optimizes zone definitions based on the movement path and application requirements, eliminating the need for manual user definition while maintaining flexibility through programmable parameters
4Productivity
If smaller zones are used by default, then cycle time is reduced, but performance parameter optimization deteriorates
Solution Approach 1:
The system dynamically determines zone sizes based on performance value evaluation rather than using fixed default values, allowing small zones where speed is critical and larger zones where smoothness is more important
Data Source
AI summary
A method of controlling an industrial device including a manipulator, the method including providing a plurality of consecutive target points for the manipulator; providing a plurality of alternative zone groups, where each zone group includes at least one zone associated with a target point; for each zone group, evaluating a performance value of a performance parameter of the industrial device, the performance parameter being associated with execution by the manipulator of a movement path associated with the target points and the at least one zone; selecting one of the zone groups based on the evaluation; and controlling the industrial device based on the selected zone group, the control including executing the movement path associated with the selected zone group by the manipulator. A control system and an industrial device are also provided.