Master Robot Transformation Matrix for Multi-Robot Coordination
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Solution Overview
Problem
In robot systems with multiple robots, the efficiency of cooperative operations is reduced when a handling robot needs to be set as a master robot, as it requires frequent operator intervention and reduces the availability of the handling robot for preparation and operation tasks.
Innovation Solution
A method where a master robot generates and stores transformation matrices representing the positional relations between itself and multiple slave robots, allowing the master robot to instruct and coordinate the operations of the slave robots, enabling cooperative operations without the need for all robots to perform TCP matching with the master robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a handling robot is set as a master robot to enable TCP matching with all working robots, then cooperative operation between all robots is achieved, but the operator needs to frequently change robots during preparation and operation, reducing operating efficiency
Solution Approach 1:
The patent introduces an intermediary mechanism where transformation matrices are stored in a shared storage accessible by all robots. This allows any working robot to serve as master robot without requiring frequent operator intervention to change the master robot, as the transformation matrices are automatically managed and accessible to all robots in the system.
2Productivity
If a working robot is set as a master robot for frequent preparation operations, then operating efficiency is improved, but TCP matching with all slave robots becomes difficult depending on robot positions
Solution Approach 1:
The patent makes the master robot role universal by allowing any working robot to serve as master robot. The system stores transformation matrices between the master robot and all other robots in a shared storage, enabling any robot to assume the master role and coordinate with all other robots regardless of their physical positions or configurations.
3Measurement precision
If TCP matching is performed between all robots, then accurate cooperative operation is achieved, but the system complexity and operator intervention increase
Solution Approach 1:
The patent segments the TCP matching process into individual pairwise matching operations between the master robot and each slave robot, rather than requiring all robots to match with each other. The transformation matrices from these segmented matching operations are stored in a shared storage, allowing accurate cooperative operation with reduced system complexity and operator intervention.
Data Source
AI summary
A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.