Robot Body Motion Coordination for End Effector Workspace
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Solution Overview
Problem
Robots face challenges in maintaining their end effectors within a usable workspace due to kinematic limitations such as hyperextension and collisions, which can inhibit task completion and lead to unnecessary and unstable movements.
Innovation Solution
A method and system that determine the motion of a robot's body to maintain the end effector within a usable workspace by predicting its future trajectory and adjusting the body's motion to meet steering objectives, such as avoiding hyperextension and collisions, while minimizing unnecessary movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot operates the articulated arm to move the end effector, then the end effector can perform tasks, but the arm may experience hyperextension or collisions due to kinematic limitations
Solution Approach 1:
The system dynamically adjusts the body pose in response to predicted end effector trajectories. Instead of using a fixed body position, the controller continuously determines and applies body pose adjustments that account for the anticipated motion of the end effector, allowing the robot to adaptively avoid kinematic limitations during task execution.
Solution Approach 2:
The system predicts the future trajectory of the end effector before executing the full motion sequence. By anticipating where the end effector will move, the controller can proactively adjust the body pose in advance to prevent hyperextension or collisions, rather than reacting after the problem occurs.
2Device complexity
If the body remains stationary while the end effector moves, then the control system is simple, but the end effector may leave the usable workspace due to kinematic limitations
Solution Approach 1:
The body is transformed from a stationary platform to a dynamic component that actively participates in task execution. The controller determines body pose adjustments based on predicted end effector trajectories, enabling the body to move in coordination with the articulated arm to maintain the end effector within the usable workspace while avoiding kinematic limitations.
3Adaptability or versatility
If the body moves to accommodate end effector motion, then the end effector remains within workspace, but unnecessary and unstable movements may occur
Solution Approach 1:
The system uses feedback from the predicted end effector trajectory to determine appropriate body pose adjustments. The controller continuously monitors the anticipated position of the end effector and applies corrective body movements only when necessary to maintain workspace constraints, avoiding unnecessary motion while ensuring stability.
Solution Approach 2:
By predicting the future trajectory of the end effector, the system can determine the minimal necessary body pose adjustments in advance. This preliminary planning allows the controller to make precise, stable movements rather than reactive, potentially unstable corrections.
Data Source
AI summary
Techniques are described that determine motion of a robot's body that will maintain an end effector within a useable workspace when the end effector moves according to a predicted future trajectory. The techniques may include determining or otherwise obtaining the predicted future trajectory of the end effector and utilizing the predicted future trajectory to determine any motion of the body that is necessary to maintain the end effector within the useable workspace. In cases where no such motion of the body is necessary because the predicted future trajectory indicates the end effector will stay within the useable workspace without motion of the body, the body may remain stationary, thereby avoiding the drawbacks caused by unnecessary motion described above. Otherwise, the body of the robot can be moved while the end effector moves to ensure that the end effector stays within the useable workspace.