Mobile Robot Control System for Stable Grasping via Dynamic Weight Optimization
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Solution Overview
Problem
Existing mobile robot control systems struggle to enable stable grasping and positioning of objects, as they prioritize speed over stability in trajectory calculation.
Innovation Solution
A control system that includes parameter optimization processing to adjust the rotational speed of the wheel and angular velocity of the arm's joints, and temporal trajectory optimization to stabilize the end effector's trajectory, ensuring minimal angular velocity as the end effector approaches its target position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If trajectory calculation prioritizes speed, then the mobile robot can move faster, but the end effector cannot stably hold and position the object-to-be-grasped
Solution Approach 1:
The patent applies dynamics by making the weight parameters time-varying rather than fixed. The weight of wheel rotational speed and arm joint angular velocity dynamically adjusts based on the end effector's distance to the target position, transitioning from higher weights for speed during approach to lower weights for stability near the target, thereby resolving the contradiction between speed and grasping stability
Solution Approach 2:
The patent changes the parameters (weights of rotational speed and angular velocity) based on the operational phase. By modifying these parameters according to the end effector's proximity to the target, the system optimizes for speed during translation and for stability during positioning, eliminating the trade-off between speed and grasping reliability
2Speed
If the weight of rotational speed and angular velocity is increased, then the mobile robot can achieve higher speed, but the angular velocity of arm joints increases causing instability
Solution Approach 1:
The patent makes the weight parameters dynamic, increasing them when the end effector is far from the target to maximize speed, and decreasing them when approaching the target to minimize arm joint angular velocity and ensure stability, thus resolving the contradiction between speed and stability
Solution Approach 2:
The system performs preliminary speed optimization during the approach phase when the end effector is far from the target, then transitions to stability optimization in advance before reaching the target position, preventing instability before it occurs
Data Source
AI summary
A control system is configured to execute: a parameter optimization processing to optimize a rotational speed of a wheel and an angular velocity of joints of the arm of a mobile robot that have already been calculated; and a temporal trajectory optimization processing to optimize a trajectory of the end effector by performing temporal trajectory optimization. The parameter optimization processing adjusts a weight of a rotational speed of the wheel and a weight of the angular velocity of the joints of the arm so that the weight of the rotational speed of the wheel that is applied to the rotational speed of the wheel increases as the end effector approaches a target position of the end effector, whereby the angular velocity of the joints of the arm is minimized. The control system can employ a machine trained model.