Robot Gripper Control Sequence for Scan-and-Regrip Handling
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Solution Overview
Problem
Robotic systems lack the sophistication to execute complex tasks and have limited control granularity, leading to inefficiencies in handling and storage of operation objects, requiring improved cooperation between robotic units and enhanced automation.
Innovation Solution
A control method for robotic systems that includes deriving an approach location and scan location for an end effector to grip and scan operation objects, creating a control sequence for gripping, scanning, temporarily releasing, and shifting objects based on predetermined conditions, such as storage efficiency, and calculating storage efficiency before and after shifting, to optimize storage and movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot executes complex tasks with high automation, then task accuracy and storage efficiency improve, but device complexity and control difficulty increase
Solution Approach 1:
The control sequence is segmented into discrete, standardized steps (approach, grip, scan, move, release, repeat) that can be independently controlled and optimized. This segmentation allows complex tasks to be broken down into manageable units, improving automation capability while maintaining controllable complexity through modular sequence composition.
Solution Approach 2:
The system dynamically changes control parameters including approach location coordinates, grip force magnitude, scan location positioning, and movement speed based on real-time conditions. These parameter adjustments enable high-level automation adaptability without requiring complex structural modifications to the control architecture.
2Productivity
If the robot optimizes grip location and movement path, then storage efficiency improves, but measurement and detection difficulty increase
Solution Approach 1:
The system performs preliminary scanning and identification of operation objects before gripping and moving them. By pre-determining optimal approach locations and scan locations through preliminary detection, the system simplifies the measurement task while achieving high storage efficiency through optimized grip and movement paths.
Solution Approach 2:
The system uses feedback from scanning devices to detect object characteristics and adjust grip location and movement path in real-time. This closed-loop feedback mechanism simplifies detection by using sensor data to automatically determine optimal parameters, thereby improving storage efficiency without significantly increasing measurement difficulty.
3Adaptability or versatility
If the robot temporarily releases and regrips operation objects at shift locations, then adaptability improves, but loss of time increases
Solution Approach 1:
The release and regrip operations are performed as periodic, rhythmic actions at predetermined shift locations rather than continuous adjustments. This periodic approach allows the system to maintain adaptability by regularly repositioning objects while minimizing time loss through efficient, repeated cycles rather than continuous complex manipulation.
Solution Approach 2:
Shift locations serve as intermediary zones where objects are temporarily released and regripped. These intermediary positions allow the robot to adjust grip configurations and movement paths without requiring complex in-transit manipulations, thereby maintaining task flexibility while reducing the time penalty associated with release and regrip operations.
Data Source
AI summary
A control method includes: deriving an approach location at which the end effector grips an operation object; deriving a scan location for scanning an identifier of the operation object; and based on the approach location and the scan location, creating or deriving a control sequence to instruct the robot to execute the control sequence. The control sequence includes (1) gripping the operation object from a start location; (2) scanning an identifier of the operation object with a scanner located between the start location and a task location; (3) temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied; and (4) moving the operation object to the task location.