Robot Grip Position Setting Using Height Difference Feedback
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Solution Overview
Problem
Existing robot systems fail to appropriately set the grip position of objects, leading to inadequate gripping force distribution, which can result in deformation or breakage, especially when gripping objects away from their centroid or with limited upper gripping force constraints.
Innovation Solution
A method and system that involve a robot end effector gripping an object, storing its initial height, lifting it, and then bringing it into contact with a surface while tracking height differences to determine the optimal grip position based on acquired differences, ensuring stable gripping with minimal force to prevent deformation and breakage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the gripping force is set higher to grip objects away from the centroid, then the gripping stability is improved, but the object may deform or break due to excessive force
Solution Approach 1:
The patent changes the parameter of grip position from a fixed or arbitrary setting to a dynamically determined position based on the height difference measurement. By measuring the height difference between the end effector and working surface and calculating the grip position accordingly, the system optimizes the gripping point to achieve stable gripping with minimal force, thus preventing deformation or breakage while maintaining reliability
Solution Approach 2:
The patent implements a feedback mechanism where the height difference measurement informs the grip position setting. The system measures the height difference, calculates the appropriate grip position based on this measurement, and adjusts the grip position accordingly. This closed-loop feedback ensures that the gripping force is applied at the optimal position, achieving stable gripping without excessive force that could cause damage
2Object-affected harmful factors
If the grip position is not optimized, then the gripping force can be reduced, but the gripping stability deteriorates
Solution Approach 1:
The patent optimizes the grip position parameter based on the measured height difference. By calculating the grip position as a function of the height difference between the end effector and working surface, the system determines the precise location where gripping should occur. This optimized position allows for stable gripping with minimal force, simultaneously achieving both gripping stability and minimal deformation
3Device complexity
If a fixed gripping force is used regardless of grip position, then the control system is simple, but the gripping performance is inadequate for objects with limited upper force constraints
Solution Approach 1:
The patent introduces a dynamic parameter adjustment mechanism where the grip position is changed based on height difference measurement. This simple yet effective approach enhances gripping performance for objects with limited force constraints without requiring complex control systems. The grip position is calculated as a function of the measured height difference, providing adaptive gripping capability while maintaining control system simplicity
Data Source
AI summary
A grip position setting method includes a work step of gripping, by an end effector, an object disposed on a working surface, storing, as a height T1, a height of the end effector when gripping the object, moving the end effector upward to separate the object from the working surface, moving the end effector downward to bring the object into contact with the working surface, storing, as a height T2, a height of the end effector when the object contacts, and acquiring a difference ΔT between the height T1 and the height T2 and a setting step of setting the grip position of the object based on the difference ΔT.