Multi-Robot Leader-Follower Handling for Heavy Payload Coordination
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Solution Overview
Problem
Conventional robotic arms are often limited in handling large, heavy, or awkwardly shaped objects, as they are typically rated for the maximum size and weight they can manage, and may struggle with payloads that exceed these limits, necessitating a system that can coordinate multiple robots to perform tasks cooperatively.
Innovation Solution
A robotic system that allows two or more robots to work cooperatively, with one robot acting as a leader to plan and execute the motion trajectory, and others as followers to synchronize their end-effectors to grasp and move large or heavy payloads, using computer vision for classification and operational-space control to maintain precise positioning and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single robotic arm is used to handle objects, then the system complexity is low, but the system cannot handle objects that exceed its maximum size and weight capacity
Solution Approach 1:
The patent combines multiple robotic arms into a cooperative system where they work together to handle large and heavy objects. The control computer coordinates the movements of multiple robotic arms as a unified system, enabling them to collectively lift and manipulate payloads that exceed the capacity of any single arm, thus resolving the contradiction between handling capacity and system complexity.
Solution Approach 2:
The patent creates a multi-functional robotic system where multiple robotic arms can perform both individual tasks and cooperative tasks. The system can dynamically switch between single-arm operation for light objects and multi-arm coordination for heavy objects, providing universal handling capability across a wide range of payload sizes and weights.
2Adaptability or versatility
If multiple robots are used to handle large objects, then the handling capacity increases, but the coordination and control complexity increases
Solution Approach 1:
The patent introduces a control computer as an intermediary that manages the coordination between multiple robotic arms. The control computer receives commands, plans trajectories, and distributes control signals to individual robotic arms, simplifying the coordination complexity by centralizing the decision-making process while enabling the system to handle large payloads effectively.
Solution Approach 2:
The patent implements dynamic role assignment where robotic arms can switch between leader and follower roles based on the task requirements. The leader arm plans and executes the primary trajectory while follower arms synchronize their movements, creating a flexible and adaptive coordination mechanism that reduces control complexity while maintaining high payload capacity.
3Adaptability or versatility
If a robotic arm is rated for maximum size and weight, then it can handle the largest objects, but it cannot handle objects that exceed these limits
Solution Approach 1:
The patent merges the lifting capacity of multiple robotic arms to handle objects that exceed the maximum weight capacity of any single arm. By distributing the load across multiple arms working in coordination, the system effectively increases its total lifting capacity while maintaining the ability to handle a wide range of object sizes.
Data Source
AI summary
A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.