Multi-Arm Robot Center of Mass Measurement

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Solution Overview

Problem

Conventional methods for measuring the center of mass of objects using a single robotic arm are limited by the arm's load capacity and gripper size, making them unsuitable for objects of varying sizes and weights, and lacking accuracy in center-of-mass position estimation.

Innovation Solution

A method utilizing multiple robotic arms to collaboratively grasp and move objects, enabling precise estimation of the center of mass through coordinated motion and continuous refinement of accuracy until maximum precision is reached.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If a single robotic arm is used to measure center of mass, then the device complexity is reduced, but the adaptability to objects of varying sizes and weights deteriorates

Engineering Contradiction:

Improverobotic arm configurationVSAvoidhandling objects of varying sizes and weights

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The patent combines multiple robotic arms (at least two) to work together for measuring the center of mass of objects. This merging of multiple robotic systems allows the measurement system to handle objects of varying sizes and weights that would be beyond the capability of a single robotic arm, thereby resolving the contradiction between device complexity and adaptability.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The multi-robotic arm system is designed to measure center of mass for various types of objects with different sizes, weights, and geometries. By making the system universal and adaptable to different object characteristics, it overcomes the limitation of single-robotic arm systems that can only handle specific object types within their load and reach constraints.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Device complexity

If a single robotic arm is used to measure center of mass, then the device complexity is reduced, but the measurement precision deteriorates

Engineering Contradiction:

Improverobotic arm configurationVSAvoidcenter-of-mass position estimation

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

By merging multiple robotic arms into a coordinated measurement system, the patent achieves higher measurement precision for center of mass position estimation. The collaborative motion and force data from multiple arms provide more constraints and information for accurately calculating the center of mass, overcoming the precision limitations of single-robotic arm approaches.

Inventive Principle:

Principle #5Merging (Combining)

3Adaptability or versatility

If multiple robotic arms are used to measure center of mass, then the adaptability to objects of varying sizes and weights is improved, but the device complexity increases

Engineering Contradiction:

Improvehandling objects of varying sizes and weightsVSAvoidrobotic arm configuration

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent segments the measurement task among multiple robotic arms, where each arm contributes specific motion or force data. This segmentation allows the system to handle diverse objects by distributing the measurement functions across multiple components, making the increased complexity manageable and justifiable by the gained adaptability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system uses feedback from the coordinated motion and force measurements of multiple robotic arms to continuously refine and improve the center of mass estimation. This feedback mechanism enables the complex multi-robotic system to adapt to different objects by learning from measurement data and adjusting calculations accordingly.

Inventive Principle:

Principle #23Feedback

4Ease of operation

If conventional single robotic arm methods are used, then the ease of operation is maintained, but the measurement precision deteriorates

Engineering Contradiction:

Improveoperational simplicityVSAvoidcenter-of-mass position estimation

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent introduces a control system as an intermediary that coordinates multiple robotic arms and processes their combined measurement data. This intermediary layer manages the complexity of multi-robotic coordination while maintaining ease of operation for the user, who simply needs to initiate the measurement process without manually controlling each robotic arm's complex motions.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS20250198872A1Method for measuring center of mass of object, control device of robot, and computer-readable storage medium

Publication Date: 2025.06.19 UBTECH ROBOTICS CORP LTD

AI summary

A method for measuring a center of mass of an object includes: controlling a multi-arm robot to carry an object through multiple robotic arms to perform pose changing movements of the object; obtaining actual end pose data and actual end force parameters of an end effector of each robotic arm after the pose changing movements; according to the actual end pose data and actual end force parameters, performing center of mass position calculation based on a torque balance relationship of the end effectors of the robotic arms on the object, to obtain a current candidate position of a center of mass of the object; and determining whether a distance between the current candidate position of the center of mass and a most recently calculated historical candidate position of the center of mass before the pose changing movements is less than a distance threshold.