Redundant Robot Arm Trajectory Control Around Obstacles
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Solution Overview
Problem
Redundant robot arms face challenges in effectively navigating complex environments with obstacles while performing tasks, requiring a method to avoid obstacles while maintaining operational capabilities.
Innovation Solution
A method for controlling redundant robot arms that involves obtaining obstacle information, determining the current and expected posture of the arm, calculating an expected trajectory using a dynamic system model, and configuring joint speeds to avoid obstacles while completing tasks, utilizing sensors and kinematic calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If redundant robot arms are used to perform tasks in complex environments, then flexibility and adaptability are improved, but the ability to avoid obstacles effectively deteriorates
Solution Approach 1:
The patent performs preliminary obstacle detection and trajectory planning before the robot arm executes movement. The system detects obstacles in advance, calculates safe trajectories that avoid obstacles, and then guides the arm along these pre-planned paths, ensuring both task completion and obstacle avoidance
Solution Approach 2:
The patent implements real-time feedback mechanisms where sensors continuously monitor the robot arm's position and surrounding obstacles. This feedback is used to dynamically adjust the trajectory and movement parameters, allowing the system to adapt to changing environments while maintaining safe operation
2Reliability
If the robot arm navigates around obstacles, then safety is improved, but task completion time increases
Solution Approach 1:
The patent employs dynamic trajectory optimization that adjusts the robot arm's path in real-time based on obstacle positions. The system calculates optimal trajectories that minimize deviation from the original task path while ensuring safe clearance from obstacles, thereby reducing unnecessary movement time
Solution Approach 2:
The patent modifies movement parameters such as speed and acceleration dynamically during obstacle avoidance. The system increases speed when the path is clear and reduces speed only when necessary for safe obstacle clearance, optimizing the balance between safety and task completion time
Data Source
AI summary
The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.