Robot Gripper Verification for Object Selection
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Solution Overview
Problem
Robot systems face challenges in accurately selecting and manipulating objects in unstructured environments due to difficulties in object recognition and gripping, especially when objects are obscured or located close together, leading to errors in type identification and gripping operations.
Innovation Solution
A method and apparatus that utilize sensor data to determine a target position for a gripper on a robot arm, with force feedback and verification sensors to ensure successful gripping and object type identification, employing learning systems to improve the likelihood of successful gripping operations and object type verification in an unstructured arena.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If pattern recognition algorithms are used to identify objects in an unstructured environment, then object recognition capability is improved, but error rate in object type identification increases due to obscured objects and varying backgrounds
Solution Approach 1:
The system performs preliminary actions by first moving the gripper to the target object position, then to a verification position before final manipulation. This preliminary verification step allows the sensor to capture images of the object from multiple angles and positions, enabling more accurate object type identification before the final action is taken.
Solution Approach 2:
The system employs feedback by using a sensor to verify object type after the gripper reaches the target position and again after moving to the verification position. This feedback mechanism allows the system to confirm object identity and adjust its actions accordingly, reducing identification errors in unstructured environments.
2Speed
If the gripper is moved directly to the target position based on initial sensor data, then operation speed is improved, but gripping accuracy deteriorates due to obscured objects and positioning errors
Solution Approach 1:
The system performs a preliminary movement to a verification position after the initial target position is reached. This intermediate step allows for verification of object presence and type before committing to the final gripping action, improving positioning accuracy without significantly impacting overall operation speed.
Solution Approach 2:
The verification position acts as an intermediary between the target position and the final manipulation position. This intermediate location allows the sensor to verify object characteristics and the system to confirm correct positioning before executing the final gripping action, thereby improving accuracy.
3Quantity of substance
If multiple objects are located close together in the unstructured arena, then object density in the operating area is improved, but gripping reliability deteriorates due to accidental gripping of wrong objects
Solution Approach 1:
The system uses feedback from the sensor at both the target position and verification position to confirm object identity before gripping. This multi-stage verification process ensures that when multiple objects are present, the system correctly identifies and grips only the intended object, preventing accidental gripping of wrong objects.
Solution Approach 2:
The system performs preliminary verification of object identity and position before executing the gripping action. This preliminary check at the verification position allows the system to distinguish between closely located objects and select the correct target, improving gripping reliability in dense object arrangements.
Data Source
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AI summary
The invention relates to a method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined. Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data. Verification sensor data is received from at least one second sensor, in response to the determining of the successful gripping, second instructions are issued to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.