Redundant Robot Axis Prioritization for Adaptive Motion Control
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Solution Overview
Problem
Robots with more degrees of freedom than required for a task face inefficiencies in control due to their redundancy, leading to multiple possible poses and adjustments, which can result in suboptimal performance and increased complexity in tasks like path planning and collision avoidance.
Innovation Solution
A method and system that prioritize adjustments of specific pairs of movement axes based on operating modes, allowing for adaptive control by specifying which axis is prioritized over others, enabling more efficient use of degrees of freedom in various situations, including blocking or independent adjustments of axes in reduced modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot has more degrees of freedom than required for a task, then the robot can achieve the task in multiple different poses, but the control complexity increases and performance becomes suboptimal
Solution Approach 1:
The robot's degrees of freedom are segmented into task-relevant and task-irrelevant components. The control system separately manages primary axes that directly affect task execution and secondary axes that provide redundancy, allowing independent optimization of each segment.
Solution Approach 2:
The control system dynamically adjusts the utilization of redundant degrees of freedom based on task requirements and operating conditions. Operating modes enable flexible switching between different strategies for utilizing redundant axes, optimizing performance for specific scenarios.
2Adaptability or versatility
If all movement axes are adjusted simultaneously for task execution, then task flexibility is improved, but control complexity and computational burden increase
Solution Approach 1:
Movement axes are segmented into primary and secondary groups. Primary axes are directly controlled for task execution, while secondary axes are managed separately based on their contribution to task objectives, reducing the complexity of simultaneous control.
Solution Approach 2:
The control system applies partial action by selectively activating only the necessary degrees of freedom for each specific task phase. Not all redundant axes are actively controlled simultaneously, but only those that provide benefit for the current operating mode.
3Adaptability or versatility
If redundant degrees of freedom are utilized without prioritization, then pose versatility is maintained, but path planning and collision avoidance become more difficult
Solution Approach 1:
The control system segments axes into primary and secondary categories, where primary axes are prioritized for task execution and secondary axes are managed to support without interfering with primary objectives. This segmentation simplifies path planning by clearly distinguishing between critical and supportive movements.
Solution Approach 2:
The control system performs preliminary actions by pre-planning the utilization of redundant axes based on predicted task requirements. Operating modes are predetermined with specific strategies for axis utilization, allowing proactive rather than reactive management of redundancy during execution.
Data Source
AI summary
A method for controlling a robot to perform a task, for which the robot is redundant, includes specifying an adjustment of first and second axes of at least one pair of two movement axes of the robot based on a specified operating mode such that both axes can be adjusted and adjustment of the first axis is prioritized over the second axis if a first operating mode is specified. Adjustment of the second axis is prioritized over the first axis if a second operating mode is specified. Additionally or alternatively, adjustment of at least one selected movement axis is specified based on a specified operating mode such that this axis can be adjusted or is blocked independently of the task if a reduced operating mode is specified, and can be adjusted for the purpose of performing this task if an operating mode differing from this reduced operating mode is specified.