Pick-and-Place Motion Planning With Region-Matched Collision Constraints
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Solution Overview
Problem
The calculation volume for motion plans in pick-and-place operations involving collision avoidance explodes as the number of transport objects increases, making practical applications difficult due to the exponential increase in binary variables and constraint conditions, leading to high computation times.
Innovation Solution
A motion plan device and method that sets conditions where the robot and transport objects are within movable regions that avoid collisions, and while the robot is carrying the object, the movable regions of the robot and transport object match, reducing the number of binary variables and constraint conditions, thereby enhancing calculation efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision avoidance constraints are added for each transport object, then collision safety is improved, but calculation time increases exponentially
Solution Approach 1:
The patent segments the collision avoidance problem by introducing a virtual wall that divides the space into separate regions. Instead of calculating collision avoidance for all object pairs, the virtual wall segments the search space so that each object only needs to avoid collisions within its own region, dramatically reducing the number of constraint conditions while maintaining collision safety.
Solution Approach 2:
The patent introduces a virtual wall as an intermediary element that mediates collision avoidance. The virtual wall acts as a mediator between transport objects, preventing direct collision calculations between all object pairs. By placing the virtual wall between objects, the system reduces computational complexity while ensuring collision-free operation through the intermediary barrier.
2Manufacturing precision
If the number of binary variables increases to represent all object positions, then motion plan accuracy is improved, but device complexity increases
Solution Approach 1:
The patent reduces device complexity by segmenting the configuration space using a virtual wall. This segmentation allows the system to use fewer binary variables because each object's position is constrained to a specific region rather than requiring full-space representation. The segmentation maintains motion plan accuracy within each region while reducing overall computational complexity.
Solution Approach 2:
The patent changes the parameter representation by introducing region-based constraints instead of full-position binary variables. By changing from representing all possible positions to representing regions separated by virtual walls, the system reduces the number of parameters needed while maintaining sufficient accuracy for collision-free motion planning.
Data Source
AI summary
A motion plan device 10X mainly includes a condition setting means 90X and a motion plan means 100X. The condition setting means 90X sets a first condition in which a robot performing a pick-and-place for one or more transport objects and the one or more transport objects are located inside movable region being a region where no collision with a collision avoidance necessary target occurs, and a second condition in which, while the robot is grasping and carrying the transport object, the movable region around the collision avoidance necessary target of the robot and the movable region around the collision avoidance necessary target of the transport object being carried match with each other. Next, the motion plan means 100X calculates a motion plan of the robot based on the first condition and the second condition.