Robot Interference Determination via Polyhedron Approximation
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Solution Overview
Problem
Current methods for determining whether an industrial robot's motion path will interfere with nearby objects are time-consuming due to the need to check for shared areas between the robot's convex hulls and obstacle polyhedrons, which slows down high-speed path computation and production efficiency.
Innovation Solution
An interference determination method that uses polyhedrons to approximate the robot and obstacle shapes, calculating intervals between approximated bodies and comparing them to specific values to efficiently determine interference, allowing for the generation of smaller combined approximated bodies to reduce unnecessary processing and increase computation speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If interference determination is performed by checking shared areas between all convex hulls and obstacle polyhedrons, then measurement precision is improved, but computation time increases
Solution Approach 1:
The motion path is divided into multiple segments based on discrete time points, and the robot's occupied area is calculated for each segment. This segmentation allows the interference determination to be performed on smaller, more manageable portions of the path rather than treating the entire path as one large convex hull, thereby reducing computation time while maintaining accuracy.
Solution Approach 2:
The robot's occupied areas at adjacent discrete time points are combined to calculate convex hulls in advance. This preliminary calculation of convex hulls from pre-combined occupied areas enables faster interference checking later, as the complex shape analysis has already been performed during path generation.
2Manufacturing precision
If path generation considers detailed nearby environment obstacles, then manufacturing precision is improved, but computation time increases
Solution Approach 1:
The interference determination system dynamically adjusts the level of detail in obstacle representation and path checking based on the specific situation. For example, convex polyhedrons are used to approximate obstacles, and the determination process adapts to the robot's current position and motion state, providing high precision where needed while reducing computation in less critical areas.
Solution Approach 2:
The system changes parameters such as the number of discrete time points, the level of obstacle detail (convex polyhedron approximation), and the segmentation granularity of the motion path. These parameter adjustments allow the system to balance between path accuracy and computation speed according to the specific application requirements.
Data Source
AI summary
An interference determination method is provided to compute whether or not a robot that operates according to a motion path will interfere with a nearby object. A first orientation, a second orientation, and an intermediate orientation of the robot are set, and a first combined approximated body is generated that is configured by combining a plurality of robot approximated bodies, which are obtained by approximating the shape of the robot in these orientations. If it is determined that the robot will interfere with the nearby object, whether to generate a combined approximated body that is smaller than the first combined approximated body is determined based on the amount indicating the interval between two adjacent robot approximated bodies.