Robot Arm Path Planning With Adaptive Point-Density Collision Checks
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Solution Overview
Problem
Existing path generation techniques for movers face a trade-off between calculation time and accuracy in interference determination, where lengthy calculations degrade accuracy, and simplifying these calculations compromises interference detection precision.
Innovation Solution
A path generator that utilizes point group models for objects and movers, adjusting the density of point groups to enhance interference determination accuracy while reducing calculation time by iteratively refining the model density during path generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the calculation of the distance between the object and the mover is simplified to reduce the time for path generation, accuracy in interference determination on the object and the mover degrades
Solution Approach 1:
The path generation process is segmented into multiple stages: initial path generation using simplified distance calculations, interference determination at discrete points along the path, and conditional refinement. This segmentation allows the system to use computationally efficient methods for the majority of the process while reserving intensive calculations only for critical verification stages.
Solution Approach 2:
The patent applies partial action by performing interference determination only at specific points along the generated path rather than continuously throughout the entire path. The system calculates distances at discrete intervals and only refines the model when interference is detected, avoiding unnecessary intensive calculations in regions where interference is unlikely.
2Reliability
If interference determination is performed multiple times in generating a path, calculation time for the distance between the object and the mover increases
Solution Approach 1:
The system performs preliminary interference determination using a coarse point group model before finalizing the path. This preliminary check identifies obvious interference issues early in the process, allowing the system to avoid multiple rounds of intensive calculations by resolving conflicts during the initial path generation phase.
Solution Approach 2:
The patent implements a feedback mechanism where interference determination results directly influence subsequent path generation iterations. When interference is detected, the system adjusts the path and performs targeted refinement only in the affected regions, rather than re-evaluating the entire path with high-density models.
Data Source
AI summary
A path generator includes an object setter that sets an object model; a device setter that sets a device model as a model of a robot arm; a path generator that generates a path of the robot arm stepwise; and an interference determiner that performs interference determination on the object model and the device model after having moved along the path, based on a distance between the object model and the device model. If it is determined that there is a possibility of interference between the object model and the device model, at least one of the object setter or the device setter increases a density of point groups of the point group model, and performs interference determination by using the point group model with the increased density of the point groups. If determined that that there is no possibility of interference, the path generator generates a next path.