Robot Arm Face-Constraint Control for Accurate Object Handoffs
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Solution Overview
Problem
Existing robot systems struggle to appropriately control robot arms based on the state of a target object, particularly in tasks involving grasping, releasing, and switching between robot arms.
Innovation Solution
A control device and method that sets conditions for the face of a target object using a direction of grasping and posture, controlling robot hands to grasp, release, or switch objects based on these conditions, utilizing constraint conditions and a control mechanism to manage robot arm operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot arms are controlled based on target object state, then grasping accuracy is improved, but control complexity increases
Solution Approach 1:
The control device segments the control process into distinct functional modules: a constraint condition setting unit that defines grasping constraints based on target object state, and a control execution unit that implements the segmented control decisions. This modular segmentation reduces overall control complexity while maintaining grasping accuracy.
Solution Approach 2:
The system performs preliminary action by pre-setting constraint conditions for grasping based on the target object state before actual grasping occurs. These pre-established constraints guide the control process, simplifying real-time decision-making while ensuring accurate grasping execution.
2Adaptability or versatility
If multiple robot arms are used for grasping and switching, then operational versatility is improved, but system complexity increases
Solution Approach 1:
The control device implements universality by designing a unified constraint condition setting mechanism that serves multiple robot arms. The same constraint setting unit manages grasping, releasing, and switching operations across different arms, allowing one component to perform multiple functions and reducing overall system complexity despite multiple arms being used.
Solution Approach 2:
The control device acts as an intermediary that manages coordination between multiple robot arms. By centralizing the constraint condition setting and control decisions in a single mediating unit, the system handles arm switching and collaboration without requiring complex direct communication between all arm components.
3Manufacturing precision
If constraint conditions are set according to grasping direction and posture, then grasping precision is improved, but calculation load increases
Solution Approach 1:
The control device extracts and isolates the essential constraint conditions related to grasping direction and posture from the overall control problem. By separating these specific constraint settings from other control variables, the system achieves precise grasping control while reducing the computational burden of processing all possible parameters simultaneously.
Data Source
AI summary
A controller sets a condition for a face of a target object according to an expression using a direction in which the target object is grasped and a direction in which a posture of the target object is defined, the condition being included in constraint conditions for deciding the posture of the target object and a movement path of the target object and related to a grasp of the target object, release of the grasp of the target object, or a switching of the target object from one robot arm to another robot arm. The controller controls at least one of a first robot hand and a second robot hand so that the target object is grasped, the grasp of the target object is released, or the target object is switched from one robot arm to another robot arm using the face decided based on the condition.