Multiple Robot Kinematic Chain Sequencing for Collision-Free Paths
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Solution Overview
Problem
Current techniques for simulating and optimizing industrial robot configurations with multiple kinematic chains are cumbersome, error-prone, and sub-optimal, leading to increased energy consumption and cycle time, particularly in virtual 3D environments where traditional methods fail to account for the complexity of dual or multiple arm robots.
Innovation Solution
A directed acyclic graph-based approach is used to determine the optimal kinematic sequence and configuration for multiple robots, enabling realistic robot simulation (RRS) to find collision-free paths, reducing redundant movements and energy consumption by calculating the most efficient sequence of robotic tasks in a virtual 3D environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional simulation techniques are used for multiple robot configurations, then the simulation can be performed with existing methods, but the results are cumbersome, error-prone, and sub-optimal leading to increased energy consumption and cycle time
Solution Approach 1:
The patent creates a virtual 3D copy of the physical robot environment including digital models of multiple robots, tools, and workpieces. This virtual replica allows simulation and optimization of robot configurations, paths, and operations without physical execution, enabling error-free testing and optimization that reduces energy consumption in actual production while maintaining high reliability through accurate digital twins.
Solution Approach 2:
The patent performs preliminary simulation and optimization of robot configurations, collision detection, and path planning in the virtual environment before actual production. By pre-calculating optimal parameters and detecting potential issues in advance, the system eliminates trial-and-error in physical production, reducing energy waste and improving simulation reliability.
2Reliability
If traditional simulation techniques are used for multiple robot configurations, then the simulation can be performed with existing methods, but the cycle time is increased due to redundant movements and sub-optimal configurations
Solution Approach 1:
The virtual 3D environment creates accurate digital replicas of robots and workpieces, enabling precise simulation of robot interactions and collision detection. This allows optimization of robot configurations and paths to eliminate redundant movements before physical execution, reducing cycle time while maintaining high simulation accuracy through realistic digital modeling.
Solution Approach 2:
The system performs preliminary optimization of robot configurations, tool assignments, and operation sequences in the virtual environment. By pre-calculating optimal paths and detecting collisions beforehand, the system eliminates trial-and-error iterations in physical production, significantly reducing cycle time while ensuring simulation reliability through accurate digital twins.
3Productivity
If multiple traditional single-arm robots are used to increase production throughput, then production capacity is improved, but the system complexity and cost increase due to requiring multiple robot controllers and synchronization
Solution Approach 1:
The patent implements a universal virtual 3D simulation environment that can model and optimize multiple different robot configurations (single-arm, twin, multiple robots) using a single integrated system. This multi-functional platform handles various robot types, tools, and operations within one simulation framework, reducing the need for multiple specialized controllers and simplifying system integration while maintaining high productivity.
4Device complexity
If twin robots are used to replace multiple single-arm robots, then costs are reduced and flexibility is improved, but the simulation and optimization become more complex due to multiple kinematic chains
Solution Approach 1:
The virtual 3D environment creates accurate digital twins of twin robots with multiple kinematic chains, capturing all geometric and kinematic properties. This digital replica allows complex simulation and optimization of multiple kinematic chains without physical complexity, enabling easy detection and measurement of robot configurations, collisions, and optimal paths while maintaining low system complexity through software-based modeling.
Data Source
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AI summary
Systems and a method for determining a sequence of kinematic chains of a multiple robot along a sequence of locations. Inputs on the locations to be reached by a robot tool are received. Each chain is considered separately by setting one chain in use and determining, for each chain in use, available configurations for each location. The available configurations are represented as nodes of a graph representing available robotic paths for reaching with a tool the locations, while allowing the switching among different chains within the same robotic path. Valid connectors are determined by simulating collision free robot trajectories while taking into account working modality constraints of the locations. Weight factors are assigned to connectors to represent robot efforts in moving between subsequent configurations. The shortest robotic path among valid paths is determined by taking into account the weight factors. The sequence of chains is determined from the shortest path.