Robot Interference Detection Using 3D Object Vertices
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Solution Overview
Problem
Existing methods for determining interference between robots and objects are inefficient for three-dimensional manipulators, particularly those with freely moving links, leading to increased calculation loads and limited applicability.
Innovation Solution
A method that calculates interference by considering vertices of objects within the robot's motion range, generating interference areas in a configuration space, and planning a route to avoid obstacles, reducing calculation load and improving convenience and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the entire object surface is considered for interference determination, then measurement precision is improved, but calculation load increases
Solution Approach 1:
The patent extracts only the vertex points from the entire object surface for interference determination. Instead of processing all surface points, the system identifies and uses only the critical vertex coordinates to represent the object's spatial occupation, significantly reducing calculation load while maintaining adequate interference detection capability
Solution Approach 2:
The patent segments the object representation into discrete vertex points rather than continuous surface data. By dividing the object into key geometric points (vertices) that define its boundary, the system enables efficient computational processing while preserving the essential spatial information needed for interference determination
2Device complexity
If three-dimensional robot models are converted to two-dimensional models for interference determination, then device complexity is reduced, but adaptability deteriorates
Solution Approach 1:
The patent reverses the conventional approach by maintaining three-dimensional vertex coordinates (x, y, z) rather than projecting to 2D. The interference determination is performed in 3D configuration space by comparing robot link positions with object vertex positions across all three dimensions, enabling accurate interference detection for freely moving manipulators without simplifying the spatial representation
Data Source
AI summary
An interference determination device includes a controller that determines interference between a robot and an object. The controller obtains a plurality of vertices of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices. The controller determines interference between the robot and the object in the real space on a basis of the plurality of vertices and the positional information.