Multi-Joint Robot Arm Path Generation for End-Effector Posture Stability
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Solution Overview
Problem
Existing robot systems face challenges in generating motion paths that minimize the change in posture of the end-effector while moving, which can lead to energy consumption and potential issues when handling sensitive objects like containers with liquids, and existing methods do not efficiently handle changes in the surrounding environment.
Innovation Solution
The system generates motion paths in a joint angle space to suppress the posture change of the end-effector by modifying the path to reduce excessive joint movements, using a control device with components like a path generation unit, buffer, and robot control unit to manage the robot's operation and ensure reliable path generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a motion path is generated in joint angle space without modification, then the robot can move the end-effector from start to goal configuration, but the posture of the end-effector changes excessively leading to increased energy consumption and potential issues with sensitive objects
Solution Approach 1:
The system performs preliminary modification of the motion path in joint angle space before executing the robot movement. By pre-adjusting the joint angle trajectory to reduce posture changes at the end-effector, the system prevents excessive energy consumption during operation while maintaining quick path generation through efficient computational methods
2Ease of operation
If a motion path is generated in joint angle space without modification, then the robot can move the end-effector along the path, but the posture change of the end-effector may cause issues when handling sensitive objects like containers with liquids
Solution Approach 1:
The system pre-modifies the motion path in joint angle space to minimize end-effector posture changes before execution. This preliminary adjustment ensures that containers with liquids remain stable during transport, preventing spillage while maintaining simple automated operation without requiring complex real-time adjustments
3Reliability
If the motion path is modified to reduce end-effector posture change, then energy consumption is reduced and sensitive objects are protected, but the path generation complexity increases
Solution Approach 1:
The system uses joint angle space as an intermediary representation to modify motion paths. By performing path modification in joint angle space rather than Cartesian space, the system achieves reliable protection of sensitive objects through reduced posture changes while keeping computational complexity manageable through the use of standardized robotic kinematics transformations
Data Source
AI summary
A robot system includes: a robot having a multi-joint arm connected to an end-effector; and circuitry configured to move the end effector by: generating a motion path in a joint angle space having dimensions respectively corresponding to joint angles of the multi-joint arm; modifying the motion path in the joint angle space to reduce a change of posture of the end-effector; and controlling the robot to move the end-effector along the modified motion path.