Mobile Robot End Effector Control for Moving Objects
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Solution Overview
Problem
Existing robot systems are unable to control the movement of a moving object, as they are designed for stationary robots and do not account for the dynamics of a mobile robot interacting with a moving object.
Innovation Solution
A robot control system comprising a mobile robot with a base portion, first sensors on the base, an end effector, and a second sensor on the end effector. The system includes an estimation unit to calculate the object's position based on sensor data and a control unit that moves the end effector to the estimated position and changes its state to control the object's movement when the object is within a predetermined distance threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a stationary robot system is used to grip objects, then the robot can accurately grip stationary objects, but the robot cannot control movement of moving objects
Solution Approach 1:
The patent applies dynamics by transitioning from a stationary robot system to a mobile robot system that can move towards and track moving objects. The robot base is equipped with wheels or tracks enabling movement on the arrangement surface, allowing the robot to dynamically adjust its position relative to the object rather than remaining stationary.
Solution Approach 2:
The patent implements feedback through the second sensor (distance sensor) on the end effector that continuously measures the distance to the object. This distance information is fed back to the control unit, which adjusts the end effector's position and state in real-time based on the actual distance, enabling accurate control of moving objects.
2Measurement precision
If the end effector is moved to the estimated position without distance verification, then the positioning speed is fast, but the positioning accuracy is insufficient
Solution Approach 1:
The estimation unit performs preliminary action by estimating the object's position before the end effector reaches it. Based on this estimated position, the control unit proactively moves the end effector to the predicted location, reducing the time needed for final positioning adjustments.
Solution Approach 2:
The second sensor provides continuous feedback on the actual distance during the end effector's movement. The control unit uses this feedback to verify and adjust the positioning, ensuring accuracy while minimizing time loss through real-time corrections rather than post-positioning adjustments.
3Adaptability or versatility
If the distance threshold value is set large, then the end effector can control more objects, but the control precision for each object is reduced
Solution Approach 1:
The system dynamically adjusts the distance threshold value based on the specific object being controlled. The control unit determines the appropriate threshold by considering the object's characteristics, enabling the system to adapt to different object sizes and distances while maintaining optimal control precision for each scenario.
Data Source
AI summary
A robot control system includes: a mobile robot that controls movement of an object; an estimation unit that estimates a position of the object based on detection information of the object acquired by first sensors installed on base portions of the mobile robot; and a control unit that controls an end effector of the mobile robot. The control unit moves the end effector to the position estimated by the estimation unit, and controls the movement of the object using the end effector when a distance between the object and the second sensor acquired by the second sensor is equal to or less than a distance threshold value.