Offset Writing Instrument Robot Vector Path Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots with an offset writing instrument face additional processing complexities when creating illustrations, as they need to rotate and move along arcs to maintain the instrument's path, unlike those with the instrument at the center, which can draw straight lines by rotating in place.
Innovation Solution
The robot calculates and periodically adjusts its movement to ensure the writing instrument follows a vector, using different wheel speeds to rotate about specific points and maintain tangency to the desired path, allowing it to draw straight lines even when offset from the center.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the writing instrument is positioned at the center of the robot, then the robot can draw straight lines by rotating in place with simple processing, but the writing instrument cannot be offset from the center to enable more flexible positioning
Solution Approach 1:
The patent implements dynamic movement patterns for the robot, where the robot alternates between rotating in place and moving in arcs depending on its orientation relative to the destination. When the robot is parallel to the vector from the writing instrument to the destination, it rotates in place; when not parallel, it moves in an arc. This dynamic adaptation allows the robot to maintain straight-line drawing capability while accommodating an offset writing instrument position.
Solution Approach 2:
The patent changes the movement parameters (rotation vs. arc movement) based on the robot's orientation angle relative to the destination vector. By monitoring the angle parameter and adjusting the movement type accordingly, the system achieves both simple straight-line drawing and flexible offset positioning without requiring complex real-time calculations.
2Measurement precision
If the robot moves along an arc to maintain tangency of the writing instrument path, then the writing instrument can reach the destination accurately, but the movement becomes more complex compared to straight-line motion
Solution Approach 1:
The system dynamically selects between two movement modes (rotation in place and arc movement) based on the robot's orientation. This dynamic approach simplifies control complexity by using pre-defined movement patterns rather than requiring complex real-time trajectory calculations, while still achieving accurate positioning of the writing instrument at the destination.
Solution Approach 2:
The patent uses periodic recalculation of the arc parameters at specific intervals (when the robot's orientation changes significantly) rather than continuous recalculation. This partial action approach maintains sufficient accuracy for the writing instrument path while reducing the computational complexity and processing requirements.
3Measurement precision
If the arc parameters are periodically recalculated, then the writing instrument path remains accurate along the vector, but additional processing is required compared to fixed arc movement
Solution Approach 1:
The patent implements periodic recalculation of arc parameters at specific intervals (when orientation changes) rather than continuous recalculation. This partial action maintains sufficient path accuracy while significantly reducing processing requirements compared to continuous recalculation, achieving a balance between precision and productivity.
Solution Approach 2:
The system uses periodic recalculation triggered by specific conditions (orientation changes) rather than continuous processing. This periodic action ensures the writing instrument path remains accurate along the vector while minimizing additional processing overhead, improving overall productivity.
Data Source
AI summary
Aspects of the present disclosure relate to illustration robot movement. In examples, a destination location may specify a location to which the illustration robot should move a writing instrument from its current location. In some examples, the robot may not be parallel to the vector from the location of the writing instrument to the destination location, such that the robot may need to rotate or turn in order to create the illustration. Accordingly, the robot may move along an arc determined to cause the writing instrument to move tangent to the vector. Further, the arc may be periodically recalculated in order to maintain the movement of the writing instrument along the vector, rather than along an arc.