Dual Robot Arm Base Alignment for Shared Workspace Planning

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Solution Overview

Problem

Existing methods fail to optimally position and align multiple robot manipulators for cooperative tasks, especially when handling heavy or bulky loads, as they lack efficient simulation methods to determine the relative positioning of their bases for maximizing shared working areas and avoiding collisions.

Innovation Solution

A simulation method that determines a finite set of tuples representing possible positions and orientations of end effectors, evaluating the capability of second end effectors to align in predefined orientations and distances relative to the first end effector, and outputs the relative position with the highest evaluation variable, considering geometric constraints and collision checks.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Weight of moving object

If multiple robot manipulators are interconnected to handle heavy or bulky loads, then the load capacity and task versatility are improved, but the complexity of positioning and aligning the bases optimally worsens

Engineering Contradiction:

Improveload capacityVSAvoidpositioning complexity

Core Design Contradiction:

Weight of moving objectVSDevice complexity

Solution Approach 1:

The patent applies preliminary action by performing simulation-based evaluation of multiple possible relative positions between robot bases before actual operation. The system pre-calculates working areas, evaluates tuple compatibility, and determines optimal base positioning in advance, avoiding complex real-time adjustment during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent uses virtual copying by creating digital representations of robot working areas and end effector positions in a simulation environment. Tuples representing position and orientation combinations are evaluated in virtual space to determine optimal physical positioning, avoiding direct trial-and-error in the physical system.

Inventive Principle:

Principle #26Copying

2Adaptability or versatility

If the working area of robot manipulators is expanded to enable more cooperative tasks, then the task versatility is improved, but the risk of collision between manipulators increases

Engineering Contradiction:

Improvetask versatilityVSAvoidcollision risk

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The patent applies preliminary action by pre-evaluating collision risks through simulation before executing cooperative tasks. The system assesses tuple compatibility and determines safe operating configurations in advance, allowing expanded working areas to be utilized safely without real-time collision concerns.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent introduces simulation evaluation as an intermediary between task planning and physical execution. This intermediary layer assesses collision risks and validates configurations before actual operation, enabling versatile cooperative tasks to be performed safely by filtering out harmful configurations.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Manufacturing precision

If precise alignment of end effectors is required for cooperative tasks, then the task precision is improved, but the time required for positioning and alignment increases

Engineering Contradiction:

Improvealignment precisionVSAvoidpositioning time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The patent applies preliminary action by pre-calculating and evaluating multiple position and orientation tuples in simulation to identify optimal alignments. This advance preparation enables precise end effector alignment during actual operation without time-consuming real-time adjustments.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces mechanical trial-and-error positioning with computational simulation and evaluation. By using virtual modeling and algorithmic assessment of tuple compatibility, the system achieves precise alignment through information processing rather than physical experimentation, significantly reducing positioning time.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20220097233A1Aligning two robot arms relative to one another

Publication Date: 2022.03.31 FR ADMINISTRATION GMBH

AI summary

A simulation method of specifying a relative position between a first base of a first robot manipulator and a second base of a second robot manipulator, including: determining a first working area of the first robot manipulator, wherein the first working area determines a finite plurality of tuples from possible positions of the first end effector and possible orientations of the first end effector in respective positions of the first end effector; determining, for each of a specified plurality of possible relative positions between the first base and the second base, a number of the tuples from the first working area as evaluation variables, for which a second end effector is capable of being positioned in a predefined orientation and/or at a predefined distance relative to the first end effector; and determining and outputting the relative position between the first base and the second base with a highest evaluation variable.