Robot Grasp Strategy Scoring for Faster Mixed-Object Handling
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Solution Overview
Problem
Existing handling apparatuses face challenges in efficiently determining holding strategies for objects with varied shapes, sizes, and weights, leading to increased processing time due to complex loading states.
Innovation Solution
A handling apparatus and control apparatus system that utilizes sensors and a control apparatus to efficiently determine the most suitable holding strategy by calculating scores based on evaluation functions, selecting the appropriate handling apparatus and holding method without explicitly calculating the object's position and orientation, thereby reducing computational complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the loading state of objects is complicated and various arithmetic processing is performed to determine the holding strategy, then the holding accuracy is improved, but the processing time increases
Solution Approach 1:
The patent segments the determination process into two distinct stages: (1) determining the holding strategy (holding position, method, orientation) without calculating specific object position and orientation, and (2) subsequently calculating the actual position and orientation only after the holding strategy is established. This segmentation reduces the computational complexity in the first stage, thereby decreasing processing time while maintaining holding accuracy through the two-stage approach.
Solution Approach 2:
The patent performs preliminary determination of the holding strategy (including holding position, holding method, and robot arm orientation) before calculating the specific object position and orientation. By establishing the holding strategy in advance without requiring detailed position and orientation calculations, the system reduces the arithmetic processing load and processing time while ensuring accurate holding through the subsequent position and orientation calculation based on the pre-determined strategy.
2Measurement precision
If the holding strategy is determined by calculating object position and orientation explicitly, then the holding precision is improved, but the computational load increases
Solution Approach 1:
The patent divides the computational process into two segments: first determining the holding strategy (holding position, method, orientation) without explicit object position and orientation calculation, and then calculating the actual position and orientation only after the strategy is determined. This segmentation reduces the overall computational load while maintaining holding precision through the structured two-stage approach.
Solution Approach 2:
The system performs preliminary determination of the holding strategy (holding position, holding method, robot arm orientation) before calculating the specific object position and orientation. This preliminary action reduces computational load by avoiding redundant calculations in the first stage, while ensuring holding precision is achieved through the subsequent position and orientation calculation based on the pre-established strategy.
Data Source
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AI summary
A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.