Robot Arm Grasp Trajectory Control for Irregular Object Picking
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Solution Overview
Problem
Robotic systems face challenges in efficiently detecting and handling objects, particularly in environments where objects are irregularly arranged, as they lack the sophistication to replicate human-level complexity in object recognition and manipulation tasks.
Innovation Solution
A computing system is developed that includes a control system communicating with a robot arm and camera, capable of identifying target objects, generating trajectories for approach and grasping, and issuing commands for the robot to pick and place objects, utilizing image processing and object recognition techniques to handle objects in containers with varying arrangements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic systems are used for object handling, then the system structure is simple, but the object recognition precision and manipulation sophistication are insufficient
Solution Approach 1:
The system segments the object handling task into distinct phases: approach trajectory generation, grasp trajectory generation, and grasp execution. The control system processes different trajectory types (arm approach, end effector approach) separately, allowing each segment to be optimized independently for precision while managing overall system complexity.
Solution Approach 2:
The control system acts as an intermediary between the camera/object detection and the robot arm/end effector. It receives object information, generates appropriate trajectories, and translates high-level objectives into low-level control commands, thereby enhancing recognition precision without requiring direct complex interaction between sensors and actuators.
2Adaptability or versatility
If complex object handling tasks are implemented, then the manipulation sophistication improves, but the processing time and computational load increase
Solution Approach 1:
The control system generates arm approach trajectories and end effector approach trajectories in advance before the actual grasp execution. This preliminary trajectory generation allows the robot to prepare movement paths proactively, reducing real-time processing delays while maintaining versatile object handling capabilities.
Solution Approach 2:
The system dynamically adjusts trajectory generation based on object characteristics and task requirements. Different trajectory types (arm approach vs. end effector approach) are selected and optimized in real-time according to the specific object and manipulation needs, enabling versatile handling while minimizing processing time through adaptive decision-making.
3Manufacturing precision
If precise object detection and trajectory generation are implemented, then the grasp accuracy improves, but the computational complexity increases
Solution Approach 1:
The control system divides grasp accuracy optimization into separate computational modules: arm approach trajectory generation, end effector approach trajectory generation, and grasp execution control. Each module handles specific computational tasks independently, improving grasp accuracy through focused optimization while managing computational complexity through modular architecture.
Solution Approach 2:
The system applies different trajectory generation strategies and control precision levels to different parts of the manipulation task. The arm approach may use coarser trajectory planning while the end effector approach uses finer precision control near the grasp point, optimizing grasp accuracy where needed without uniformly increasing computational complexity throughout the entire system.
Data Source
AI summary
A computing system includes at least one processing circuit in communication with a robot having a robot arm that includes or is attached to an end effector apparatus. A object handling environment including a source of objects for delivery to a destination is provided. The at least one processing circuit identifies a target object amongst the plurality of objects in the source of objects, determines an approach trajectory for the robot arm and end effector apparatus to approach the plurality of objects, determines a grasp operation for grasping the target object with the end effector apparatus, and controls the robot arm and end effector apparatus to traverse the determined trajectories and pick up the target object. The at least one processing circuit determines a destination approach trajectory, and controls the robot arm and end effector apparatus gripping the target object to approach the destination, and release the target object into the destination.