Robot Arm Trajectory Planning With Prestored Paths and Obstacle Avoidance
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Solution Overview
Problem
Existing robot arm trajectory planning methods are inefficient, often requiring manual intervention and resulting in delayed cycle times, vibrations, and collisions due to sudden acceleration and deceleration, especially in dynamically changing environments.
Innovation Solution
A trajectory path-planning manager system that integrates a planning manager, sequence manager, and intelligence module to generate smooth, efficient, and collision-free trajectories using polynomial or spline interpolation, artificial intelligence, and machine learning techniques, while also incorporating image-based mapping and real-time obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual teaching of waypoints is used, then the robot arm can be prepared for operation, but the cycle time is delayed due to trial and error method
Solution Approach 1:
The system pre-calculates and stores optimal trajectory paths between waypoints before actual operation. The trajectory path planning manager computes multiple possible paths and selects the optimal one in advance, so that during execution, the robot can immediately follow the pre-planned path without real-time calculation delays, thus reducing cycle time and eliminating trial-and-error teaching.
2Adaptability or versatility
If sharp turns or directional changes are introduced in waypoints, then the robot arm can navigate complex paths, but vibrations are created affecting object pickup or placement
Solution Approach 1:
The trajectory planning algorithm generates smooth curved paths between waypoints instead of sharp angular turns. By using continuous curvature paths, the robot arm transitions smoothly between directions, avoiding sudden acceleration and deceleration that cause vibrations. This ensures both complex path navigation and stable object manipulation.
3Productivity
If the robot arm operates at optimum motion speed, then productivity increases, but the probability of collision with obstructions increases in dynamically changing environments
Solution Approach 1:
The system implements dynamic trajectory adjustment where the pre-planned optimal path can be modified in real-time based on sensor feedback about environmental changes. If obstructions are detected, the trajectory path planning manager recalculates alternative paths while maintaining high speeds where safe, thus balancing productivity with collision avoidance in dynamic environments.
4Reliability
If multiple trajectories are planned sequentially, then collision avoidance is improved, but the operating time increases
Solution Approach 1:
The system pre-calculates multiple alternative trajectories between waypoints and stores them in advance. When operation begins, the robot can immediately select from these pre-planned paths without waiting for real-time computation, thus avoiding collision while maintaining fast operation. The multiple paths are prepared beforehand, eliminating planning time during execution.
Data Source
AI summary
The present invention relates to a trajectory generating method for moving a Robot Arm in the fastest and smoothest path by avoiding obstructions and jerky movements in the shortest possible time to predetermined endpoints, by implementing a planning, sequence and trajectory path manager to plan the movements ahead of time and concurrently creating a database of trajectory paths that is subsequently used for storing and retrieving of repetitive movements of the Robot arm, resulting in time saving and smooth movements. In a dynamically changing operating environment, endpoints are calculated through the implementation of an intelligence module that captures a three-dimensional image of the processing area and predicts a 3D pose, which in turn is translated to positional coordinates for the Robot to utilise, to move to the target endpoint. The planning manager working in sync with the intelligence module and sequence manager enables a very favourable environment to seamlessly and efficiently move objects smoothly at controlled speeds, mimicking human movement.