Robot Control Apparatus Singular Point Trajectory Generation
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Solution Overview
Problem
Existing robot control systems face challenges in accurately controlling robot movement near singular points, where infinite solutions exist for joint movement, leading to movement inhibiting regions, and struggle to synchronize image feature changes with robot control cycles due to low frame rates of general-purpose cameras.
Innovation Solution
A robot control apparatus that includes an actuator, joint shaft angle sensor, image capturing unit, image feature amount calculating and estimating units, image Jacobian calculating unit, target trajectory generating unit, and torque command value calculating unit, which temporally interpolates image feature amounts, calculates image Jacobians, and adjusts joint shaft angles to generate a stable target trajectory while considering hardware constraints, thereby avoiding singular points and ensuring stable visual feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a target value is set near a singular point to achieve accurate position and posture control, then manufacturing precision is improved, but the robot may enter a movement inhibiting region causing loss of stability
Solution Approach 1:
The system performs preliminary detection of singular points and pre-calculates alternative target values before the robot reaches problematic regions. By anticipating singular point encounters and preparing corrected trajectories in advance, the system prevents entry into movement inhibiting regions while maintaining accurate position and posture control throughout the motion sequence.
2Productivity
If the robot moves quickly along the target trajectory to improve productivity, then productivity is improved, but control stability deteriorates near singular points due to rapid joint shaft angle velocity changes
Solution Approach 1:
The system dynamically adjusts the robot's motion speed based on real-time proximity to singular points. When approaching detected singular points, the system automatically reduces joint shaft angle velocity to prevent entering movement inhibiting regions, while maintaining higher speeds in safe regions. This dynamic speed modulation ensures both high productivity during normal operation and stable control near critical regions.
3Measurement precision
If the frame rate of the camera is increased to improve measurement precision of image features, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The system introduces an image feature temporal interpolation unit that acts as an intermediary between the low frame rate camera and the high-speed robot control system. This unit calculates intermediate image feature values between captured frames using interpolation algorithms, effectively synthesizing high-rate measurement data from low-rate camera input. This approach achieves the measurement precision needed for accurate visual feedback without requiring expensive high frame rate camera hardware.
Data Source
AI summary
According to an embodiment, a target trajectory that takes into account the hardware constraints of a robot is generated, based on results obtained by calculating, temporally interpolating, and estimating image feature amounts from a captured image.