Modular Robot Anti-Collision Safety Device
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Solution Overview
Problem
Modular robots face challenges in collision avoidance, particularly when reconfigured, as existing methods do not effectively update their geometric models to account for changes in module configuration, leading to increased collision risks.
Innovation Solution
An anti-collision safety device and method that automatically derive and update the geometric model of a modular robot by assigning modules to a kinematic chain, calculating collision-free movements based on the determined model, and using transformations to generate a dynamic model, allowing for real-time collision avoidance with both static and dynamic obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the geometric model is updated automatically when modules are added or removed, then collision avoidance reliability is improved, but device complexity increases
Solution Approach 1:
The system automatically detects module additions or removals and updates the geometric model without requiring manual intervention. The control device monitors the robot configuration, identifies changed modules, and autonomously regenerates the geometric model using stored module data, eliminating the need for manual reconfiguration procedures
Solution Approach 2:
Geometric data for all possible modules is pre-stored in the control device before actual operation. When a module is added or removed, the system immediately retrieves the relevant pre-stored geometric data and updates the model accordingly, preparing the collision avoidance system in advance for configuration changes
2Measurement precision
If the geometric model accurately represents all module configurations, then collision detection precision is improved, but data storage requirements increase
Solution Approach 1:
The geometric model is segmented into individual module representations, with each module stored as separate data. The control device maintains a library of module-specific geometric data and dynamically assembles the complete robot geometric model by combining relevant module segments, allowing precise collision detection without storing redundant information for all possible configurations simultaneously
Data Source
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AI summary
Provided is an anti-collision safety device/method for a modular robot which automatically derives a new/updated geometric model for the kinematic chain when the robot has been reconfigured.