Mobile Robot Base Path Planning for Precise End Effector Positioning
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Solution Overview
Problem
Existing systems for robot base path planning in physical environments suffer from errors in positioning of the end effector, particularly as the distance from the robot base increases, due to issues such as long booms deflecting under gravity, wind, and movement of the end effector.
Innovation Solution
A system that includes a robot base actuator, a robot arm with an end effector, a tracking system, and a control system that calculates a robot base path with a defined velocity profile to ensure continuous movement, smoothing path segments, and adjusts for environmental interactions and dependencies to maintain accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a long boom is used to extend the robot base reach, then the working range is improved, but positioning precision deteriorates due to deflection under gravity, wind, and movement
Solution Approach 1:
The robot base is made movable rather than fixed, allowing it to dynamically adjust its position to compensate for boom deflection. The base can move in response to detected positioning errors, actively maintaining end effector accuracy despite the long boom's flexibility and environmental influences.
Solution Approach 2:
A tracking system continuously monitors the end effector's position and provides feedback to the control system. This feedback loop enables real-time detection of positioning errors caused by boom deflection, allowing the system to calculate and execute corrective base movements to maintain precise positioning.
2Manufacturing precision
If the robot base is made movable to compensate for positioning errors, then positioning precision is improved, but system complexity increases due to additional actuators and control mechanisms
Solution Approach 1:
The robot base serves multiple functions: it provides the mounting platform for the robot arm and simultaneously acts as an active compensation mechanism for positioning errors. By making the base movable, it performs both structural support and error correction functions, reducing the need for separate compensation mechanisms and thereby managing system complexity.
Solution Approach 2:
The system uses its own base movement capability to self-correct positioning errors rather than requiring external compensation devices. The tracking system detects errors and the control system commands base movements that automatically compensate for the long boom's deflection, allowing the system to self-regulate its positioning accuracy.
3Productivity
If continuous movement of the robot base is implemented, then productivity is improved, but positioning stability deteriorates due to potential discontinuities and velocity changes
Solution Approach 1:
The robot base moves continuously along a calculated path rather than stopping and starting between positions. This continuous movement eliminates idle time and positioning re-acquisition delays, maintaining productivity while the tracking system ensures stability by constantly monitoring and correcting the end effector's position throughout the motion.
Solution Approach 2:
The system dynamically adjusts the base velocity and path based on real-time tracking feedback. When approaching interaction points or encountering environmental disturbances, the control system can modify velocity profiles to maintain positioning stability while still progressing continuously through the work sequence, balancing productivity and stability requirements.
Data Source
AI summary
A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.