Robot Control Using Future Grasp-State Prediction
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Solution Overview
Problem
Existing robot control systems primarily rely on current state information, which limits their accuracy in performing tasks that require consideration of future states.
Innovation Solution
A computer-based system that acquires operating and work state information, generates estimated future work state information, and uses this information along with trajectory data to generate control information for the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot control is performed based only on current state information, then the control system is simple, but the control accuracy is limited
Solution Approach 1:
The system performs preliminary actions by generating estimated future work state information before actual execution. The arithmetic device predicts future states of the robot and object based on current state and trajectory information, allowing the control system to plan and adjust control commands in advance, thereby improving control accuracy without proportionally increasing system complexity
Solution Approach 2:
The system implements feedback by continuously comparing current state information with estimated future work state information. The arithmetic device uses this feedback loop to generate optimized control commands that account for predicted future states, resolving the contradiction between maintaining simple control architecture and achieving high control accuracy
2Reliability
If future state information is incorporated into robot control, then control accuracy improves, but information processing complexity increases
Solution Approach 1:
The system performs preliminary prediction of future work states using trajectory information and current state data. By calculating estimated future states in advance rather than reacting to them in real-time, the system improves control reliability while managing information processing complexity through proactive rather than reactive processing
Solution Approach 2:
The arithmetic device acts as an intermediary that processes and integrates multiple information sources (trajectory information, current operating state, current work state) to generate estimated future work state information. This intermediary processing layer manages the complexity of information integration while providing reliable control decisions
Data Source
AI summary
A robot that performs work including gripping an object and moving the object is controlled with high accuracy. A computer for controlling the robot that performs the work including gripping the object and moving the object stores trajectory information, acquires operating state information including a value indicating an operating state of the robot during the work and work state information including a value for grasping a state of the object gripped by the robot, generates estimated work state information including a value for grasping a future state of the object gripped by the robot based on the trajectory information, the operating state information, and the work state information, and generates control information for controlling the robot based on the trajectory information, the operating state information, the work state information, and the estimated work state information.