Robot Gripper Trajectory Control for Picking Reliability
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Solution Overview
Problem
Existing robot picking systems face challenges in efficiently picking up and transferring works from a stocker, particularly due to difficulties in accurately changing the posture of the gripper and approaching the target work without interference with obstacles or changing the work's posture.
Innovation Solution
A robot picking system that includes a control device capable of generating first and second trajectory data, allowing the gripper to change posture in a designated zone before approaching the target work, while maintaining the picking-up posture to avoid obstacles and ensure successful pickup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot moves the picking-up unit directly toward the target work without separating posture change and approach, then the operation is simpler, but the picking-up accuracy and reliability deteriorate due to interference with obstacles and difficulty in maintaining proper posture
Solution Approach 1:
The patent divides the movement trajectory into two distinct zones: a first zone for changing the posture of the picking-up unit, and a second zone for approaching the target work. This segmentation allows the robot to complete posture adjustments before entering the approach zone, ensuring proper orientation for picking up the work while avoiding interference with obstacles during the movement process.
2Adaptability or versatility
If the robot changes posture while approaching the target work, then the operation is more flexible, but the picking-up accuracy deteriorates due to interference with obstacles and difficulty in maintaining stable posture
Solution Approach 1:
The patent separates posture adjustment operations from approach operations by defining distinct trajectory zones. The first zone is dedicated solely to posture changes, allowing the picking-up unit to achieve the correct orientation without interference. The second zone is dedicated to approaching the target work with the posture already established, ensuring stability and precision during the critical approach phase.
Solution Approach 2:
The patent performs the posture change action in advance, within the first zone, before the robot enters the second zone for approaching the target work. This preliminary posture adjustment ensures that the picking-up unit is properly oriented before encountering obstacles or needing to maintain stability during the approach, thereby improving picking-up precision.
3Productivity
If the robot uses a single trajectory for both posture change and approach, then the operation is faster, but the reliability deteriorates due to potential interference with obstacles
Solution Approach 1:
The patent divides the trajectory into two zones to resolve the contradiction between speed and reliability. By separating posture change and approach into distinct zones, the system can optimize each phase independently - maintaining higher speeds during movement while ensuring reliability during the critical approach and picking-up phases where precision is paramount.
Data Source
AI summary
A robot picking system includes a robot including a gripper that picks up a target work in a first stocker accommodating a plurality of works, a control device that controls an operation of the robot, and an image acquiring device that acquires image data including information related to the target work. The control device includes a trajectory calculating unit that sets a first trajectory including a first zone in which a posture of the gripper is changed and a second zone in which the gripper having the changed posture approaches the target work that is a picking-up target.