Robot Link Shape Correction for Accurate Self-Interference Detection
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Solution Overview
Problem
Conventional self-interference determination methods for robots with complex shapes or axial structures are inadequate, as they rely solely on the position or angle of a specified link, leading to severe limitations in movement range and inability to accurately determine self-interference.
Innovation Solution
A self-interference determination device that corrects link shapes based on specified distances and employs a hybrid determination method combining self-interference formulas and shape interference determination to assess self-interference in complex robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional self-interference formula is used for robots with complex shapes or axial structures, then determination can be made based only on position or angle of specified link, but movement range is severely limited and accuracy is insufficient
Solution Approach 1:
The determination process is divided into two segments: first using the conventional self-interference formula for quick assessment based on link position/angle, then using detailed shape interference determination when the formula indicates potential interference. This segmentation allows the system to maintain broad movement range while achieving high accuracy when needed.
Solution Approach 2:
The invention transitions from determining interference solely based on link position/angle (one dimension) to incorporating actual link shapes and spatial relationships (multiple dimensions). The shape interference determination unit considers the three-dimensional geometry of links, adding dimensional complexity to achieve accurate determination for complex robot structures.
2Measurement precision
If self-interference formula is adapted for complex shapes, then determination accuracy may improve, but device complexity and computational burden increase significantly
Solution Approach 1:
The system performs partial determination using the conventional formula first, and only performs the more complex shape-based determination when necessary (when the formula indicates potential interference). This partial action approach maintains accuracy while reducing overall computational burden and system complexity.
Solution Approach 2:
The self-interference formula acts as an intermediary between simple position-based determination and complex shape-based determination. It provides a preliminary assessment that filters out cases where detailed shape analysis is unnecessary, thus reducing the complexity burden while maintaining accuracy for critical cases.
3Measurement precision
If detailed shape interference determination is performed for all cases, then self-interference can be accurately determined, but computational time and processing load increase
Solution Approach 1:
Detailed shape interference determination is performed only partially - specifically, only when the self-interference formula indicates potential interference. For cases where the formula determines no interference, the system skips the time-consuming shape analysis, thus maintaining accuracy when needed while minimizing time loss.
Solution Approach 2:
The self-interference formula performs a preliminary assessment before the detailed shape determination. This preliminary action filters out cases that definitely do not have interference, so that the time-consuming shape analysis is only performed on cases that require it, reducing overall determination time while maintaining accuracy.
Data Source
AI summary
This self-interference determination device is provided with a link shape correction unit that corrects link shapes on the basis of a specified distance between link shapes at which links of a robot comprising a plurality of links are regarded as having undergone self-interference, and a shape interference determination unit that determines the presence or absence of self-interference on the basis of the link shapes.