Sensor-Guided Robot Gripper Positioning for Stable Object Handling
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Solution Overview
Problem
Robots face challenges in gripping objects stably, often leading to damage or dropping due to improper gripping at edges or ends.
Innovation Solution
A robot equipped with a hand comprising first and second fingers, each with sensors, uses a processor to sense object distances through these sensors, determine optimal gripping points based on combined distance values, and control finger movements to grip the object stably.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot grips the edge or end part of the object, then the gripping operation can be performed, but there is a danger of damage or dropping of the object
Solution Approach 1:
The robot performs preliminary scanning of the object surface using sensors before gripping to identify the optimal gripping position. The processor calculates combined distance values from multiple sensor readings in advance, determines the center or thickest part of the object, and positions the hand accordingly before applying grip force, thereby preventing damage or dropping
Solution Approach 2:
The robot uses sensors (first sensor and second sensor) to continuously measure distance information from different points on the object. The processor receives this feedback, calculates combined distance values, and uses this information to determine the optimal gripping position, adjusting the hand position and grip force accordingly to ensure stable and safe gripping
2Reliability
If the robot uses multiple sensors to determine optimal gripping points, then gripping stability is improved, but device complexity increases
Solution Approach 1:
The robot divides the object surface into multiple measurement points and uses separate sensors (first sensor and second sensor) to measure distance information at each point. The processor segments the calculation process by computing combined distance values for each pair of sensor readings, identifying the optimal gripping position through systematic analysis of discrete measurement data
Solution Approach 2:
The first sensor and second sensor serve multiple functions: they measure distance information for both positioning the hand and determining the optimal gripping position. The same sensor system is used for both navigation to the object and selection of the specific gripping point, reducing the need for additional specialized sensors
Data Source
AI summary
A robot includes: an arm; a hand including a first finger and a second finger, wherein the first finger includes a first sensor and the second finger includes a second sensor; and a processor configured to: based on sensing an object through the first sensor while the robot is moving to grip the object, activate the second sensor, receive, from the first sensor and the second sensor, distance information including a plurality of pairs of distance values, wherein each respective pair of distance values of the plurality of pairs of distance values includes a first distance between the first sensor and the object and a second distance between the second sensor and the object, and each respective pair of distance values corresponds to a respective position of the hand relative to the object, and control the first finger and the second finger to grip the object based on the distance information.