Dynamic End Effector Path Control on a Moving Robot Base
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Solution Overview
Problem
Existing systems for robot arms mounted on moving bases face challenges in accurately positioning end effectors due to relative movement between the robot base and the environment, leading to errors as the distance from the base increases, despite advancements like those in automated brick laying systems.
Innovation Solution
A system that includes a robot base with a tracking system to measure its position relative to the environment, a control system that calculates and adjusts the end effector path based on the robot base position, and generates control signals to move the end effector accurately, using transformations between coordinate systems to account for the robot base's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm is mounted on a moving robot base to perform interactions within a physical environment, then the system gains mobility and adaptability to different locations, but positioning accuracy of the end effector deteriorates due to relative movement between the robot base and the environment
Solution Approach 1:
The system employs a tracking system that continuously measures the robot base position relative to the environment and feeds this information back to the control system. The control system uses this feedback to calculate and adjust the end effector path in real-time, compensating for base movement and maintaining positioning accuracy despite the mobile platform.
Solution Approach 2:
The system dynamically adjusts the end effector path based on real-time robot base position measurements. Instead of using a static pre-programmed path, the control system continuously recalculates the path extending to the end effector destination using current base position data, allowing the system to adapt to movement and maintain accuracy.
2Length of moving object
If the distance from the robot base to the end effector increases to reach distant targets, then the system gains extended reach capability, but positioning errors increase due to amplification of base movement
Solution Approach 1:
The tracking system continuously monitors robot base position and provides real-time feedback to the control system. This feedback mechanism allows the system to detect and compensate for base movement regardless of the end effector's distance from the base, preventing error amplification.
Solution Approach 2:
The control system dynamically recalculates the end effector path based on current base position measurements. This dynamic adjustment compensates for the lever effect that would otherwise amplify base movement errors at greater distances, maintaining positioning accuracy throughout the extended reach.
Data Source
AI summary
A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.