Picking Hand Trajectory Planning for Obstacle-Aware Placement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing picking systems face challenges in calculating trajectories efficiently while avoiding obstacles, leading to prolonged calculation times that hinder practical implementation.
Innovation Solution
A control device that acquires candidate information for various postures of a picking hand at different positions, extracts combinations for optimal trajectory planning, and determines interference, allowing for efficient trajectory calculation and adjustment based on evaluation functions and predetermined conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automatic trajectory calculation taking interference with obstacles into account is performed, then trajectory accuracy is improved, but calculation time increases significantly
Solution Approach 1:
The picking hand's movement is segmented into discrete postures at the first position and second position. The extracting unit divides the continuous trajectory planning problem into discrete posture combinations, selecting from pre-acquired candidate postures rather than calculating continuous interference-free paths. This segmentation reduces computational complexity while maintaining adequate trajectory accuracy.
Solution Approach 2:
Candidate posture information is acquired in advance before trajectory calculation. The first candidate information acquiring unit and second candidate information acquiring unit prepare multiple possible postures at the first and second positions beforehand, so that the extracting unit only needs to select optimal combinations rather than generate and evaluate all possible trajectories from scratch.
2Productivity
If multiple posture combinations are evaluated for trajectory planning, then operational efficiency is improved, but device complexity increases
Solution Approach 1:
The control device dynamically adjusts the number of candidate postures and combinations based on calculation time constraints. When calculation time exceeds a threshold, the system reduces the number of evaluated combinations, allowing flexible adaptation to different operational requirements without fixed complex structure.
Solution Approach 2:
The extracting unit automatically selects optimal posture combinations from candidate information based on predetermined conditions, eliminating the need for manual trajectory programming or complex external optimization systems. The system serves itself by autonomously resolving the trade-off between trajectory quality and calculation time.
Data Source
AI summary
Automatic calculation of a trajectory by taking the interference with an obstacle into account may be performed by calculating trajectory information representing a trajectory on which (i) the picking hand picks, on the first position, the work with a posture associated with the first position included in the first combination; and (ii) the picking hand arranges, on the second position, the work with a posture associated with the second position included in the first combination, and determining whether an interference is present or absent on the trajectory represented by the trajectory information calculated in the calculating a trajectory.