Multi-Arm Robot Trajectory Replanning in Overlapping Workspaces
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The complexity of programming multi-arm robots, particularly two-arm robots, is high due to the independent handling of their arms, leading to inefficient coordination and potential collisions during work movements.
Innovation Solution
A coordination system with a trajectory planning module and a control module that replans trajectories in real-time to ensure collision-free movements, allowing simultaneous execution of original and new work commands by adjusting the velocity and acceleration of kinematic chains, thereby optimizing the operation of multi-arm robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multi-arm robots handle arms independently as conventional separate controllers, then each arm can execute work commands autonomously, but the programming complexity becomes very high and coordination efficiency deteriorates
Solution Approach 1:
The patent merges multiple arm controllers into a unified coordination system that manages all kinematic chains centrally. The trajectory planning module coordinates movements of multiple arms simultaneously, eliminating the need for complex independent programming while improving coordination efficiency through integrated control.
Solution Approach 2:
The coordination system serves multiple functions: it plans trajectories, coordinates multiple kinematic chains, prevents collisions, and optimizes work movements. This multi-functional approach replaces multiple separate controllers with a single universal system that simplifies operation while maintaining high productivity.
2Ease of operation
If trajectory planning is performed sequentially for each work command, then programming becomes simpler, but system responsiveness deteriorates and operation time increases
Solution Approach 1:
The system performs preliminary trajectory planning by pre-calculating multiple work movements in parallel before execution. The trajectory planning module computes trajectories for multiple kinematic chains simultaneously, allowing the system to respond faster while maintaining programming simplicity through the unified interface.
Solution Approach 2:
The coordination system maintains continuous trajectory planning and optimization during robot operation. Rather than stopping to replan, the system continuously adjusts trajectories in real-time, ensuring uninterrupted work movements and optimal responsiveness while keeping the programming model simple.
3Reliability
If the handling device stops to replan trajectories when new work commands are received, then collision prevention is ensured, but productivity deteriorates due to operation interruptions
Solution Approach 1:
The trajectory planning module dynamically replans trajectories in real-time without stopping the handling device. The system adapts to new work commands on-the-fly, adjusting velocity and acceleration profiles of kinematic chains to prevent collisions while maintaining continuous operation and high productivity.
Solution Approach 2:
The system changes operational parameters such as velocity and acceleration of kinematic chains during trajectory replanning. By adjusting these parameters dynamically, the coordination system ensures collision-free operation while maintaining continuous workflow and preventing productivity loss from stoppages.
4Productivity
If multiple kinematic chains operate simultaneously in overlapping workspaces, then productivity increases, but collision risk increases and control complexity worsens
Solution Approach 1:
The trajectory planning module introduces temporal dimension to coordinate spatial movements of multiple kinematic chains. By planning trajectories in four-dimensional space (three spatial dimensions plus time), the system enables parallel operation in overlapping workspaces while preventing collisions through synchronized timing, thus managing complexity through dimensional expansion.
Data Source
AI summary
A coordination system for a handling device including a plurality of kinematic chains is provided. Each of the kinematic chains being movable in a workspace. At least two of the workspaces having an overlap, the kinematic chains being designed to carry out a work movement based on a work command. The coordination system includes a trajectory planning module and a control module. The control module is designed to activate the kinematic chains to carry out the work movement based on trajectory data. The trajectory planning module is designed to determine the trajectory data to carry out the work movement and to provide the trajectory data to the control module. The trajectory planning module is designed, if a further work command is provided while the work movement is being carried out, to replan the trajectory data into replanned trajectory data and provide these data to the control module.