Robot Arm Tool Path Planning Around Workspace Obstacles
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for generating paths for robot arms with attached tools are time-consuming, require skilled personnel, and do not provide user-friendly solutions for handling various applications and obstacles in a workspace.
Innovation Solution
A method and control system that allow users to select or auto-detect relevant applications from predefined lists, generating collision-free paths as single consecutive motions through an optimization process considering previous sub-motions, workspace obstacles, tool configuration, and robot arm dynamics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional programming methods are used for robot arms, then path generation can be achieved, but programming time increases and skilled personnel are required
Solution Approach 1:
The system performs automatic path optimization by having the robot arm autonomously execute sub-motions and collect sensor data, then automatically generates optimized paths based on this self-collected information, eliminating the need for manual programming by skilled personnel
Solution Approach 2:
The patent replaces traditional manual programming mechanisms with an automated optimization system that uses sensor feedback and computational algorithms to generate paths, substituting human operator intervention with an automated control system
2Reliability
If path planning only considers robot and obstacles, then collision avoidance is achieved, but information about tool actions and workspace elements is lost
Solution Approach 1:
The sensor system serves multiple functions: it detects obstacles for collision avoidance, monitors tool configuration, identifies workspace elements, and provides feedback for path optimization, making the system multi-functional rather than single-purpose
3Adaptability or versatility
If learning processes are used for robotic systems, then adaptability improves, but setup time increases and uncertainty is introduced
Solution Approach 1:
The system pre-defines multiple application types with associated parameters and characteristics before actual use. When a specific application is needed, the system simply selects from these pre-configured options and adjusts parameters, rather than learning from scratch each time
Data Source
AI summary
A method for generating a path (P) of a tool attached to a robot arm is disclosed. The robot arm is placed in a workspace that can comprise obstacles. The robot arm is connected to a compute box that is configured to control the motion of the robot arm. The path (P) has a starting point (A) and an end point (B). The path (P) is composed of a plurality of sub-motions (d1, d2, d3, . . . , dN−2, dN−1, dN). The method comprises the step of creating the path (P) as a single consecutive motion, wherein the i-th sub-motion (di) is determined by an optimization process carried out on the basis of predefined characteristics of a) the previous sub motion (di−1); b) the workspace and its obstacles if any; c) the tool and d) the robot arm.