Robot Member Interference Detection Using Selective 3D Shape Checks
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Solution Overview
Problem
In robot devices, determining the precise position and orientation of constituent members, such as arms, to avoid interference with surrounding objects is challenging, especially when dealing with bulk-loaded workpieces, leading to inefficient simulation processes and potential interference misjudgments due to simplified shape models.
Innovation Solution
A robot device equipped with a controller that stores three-dimensional shape data of its constituent members and surrounding objects, allowing for real-time interference determination using a determination unit that sets specific members for interference assessment based on operating states, reducing calculation complexity and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simplified shape models are used for constituent members, then calculation complexity is reduced, but interference determination accuracy deteriorates
Solution Approach 1:
The robot arm is divided into multiple constituent members (first arm member, second arm member, etc.), and interference determination is performed selectively for each segment based on its operating state, rather than treating the entire arm as a single simplified model
Solution Approach 2:
The determination unit dynamically selects which constituent members to evaluate for interference based on real-time operating states, adapting the level of detail in the model to the current operational context rather than using a static simplified model
2Reliability
If extensive simulations are performed to determine robot positions and orientations, then interference avoidance improves, but productivity deteriorates
Solution Approach 1:
Instead of performing exhaustive simulations for all possible robot positions and orientations, the system performs partial interference determination only for constituent members that are in operating states where interference is likely, achieving sufficient reliability with reduced computational effort
Solution Approach 2:
The determination unit automatically identifies which constituent members require interference checking based on their operating states, eliminating the need for manual simulation planning and reducing overall simulation time
Data Source
AI summary
This robot device comprises a robot including a plurality of constituent members, and a control device. The control device stores three-dimensional shape data of the constituent members of the robot. A setting unit of the control device sets some of the constituent members to determine interference in accordance with an operation state of the robot. A determination unit of the control device determines, on the basis of the three-dimensional shape data of the constituent members set by the setting unit, whether the constituent members of the robot interfere with a container storing a workpiece.