Robot End Effector Motion Control for Dynamic Object Pick-Up
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Solution Overview
Problem
Existing robot end effectors require reducing speed to zero before grabbing objects, resulting in low control efficiency due to static grasping methods.
Innovation Solution
A robot control method and apparatus that enables dynamic object pick-up by colliding with and rotating the end effector relative to the target object, allowing for motion-based grasping without stopping, utilizing a collision control module, rotation control module, and pick-up control module.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector reduces speed to zero before grabbing the object, then the object can be securely grasped, but the time required for picking up the object increases
Solution Approach 1:
The patent transitions from static grasping (end effector stops before grabbing) to dynamic grasping (end effector moves while grabbing). The control system calculates dynamic trajectories that allow the end effector to maintain motion during the grasping process, eliminating the need to reduce speed to zero while still achieving secure object capture through coordinated motion control of both the end effector and target object.
Solution Approach 2:
The patent performs preliminary calculation of dynamic trajectories and motion parameters before the actual grasping action. The control system pre-computes the required motion paths, velocities, and accelerations for both the end effector and target object, enabling the system to execute dynamic grasping without real-time computational delays while maintaining grasping reliability.
2Productivity
If the end effector moves continuously during the pick-up process, then the control efficiency is improved, but the complexity of motion control increases
Solution Approach 1:
The patent introduces a computational intermediary (control system) that mediates between the desired dynamic grasping behavior and the physical robot execution. The control system serves as an intermediary layer that handles the complex calculations of dynamic trajectories, force interactions, and coordinated motion, thereby isolating the complexity from the hardware and enabling continuous motion during pick-up operations.
Solution Approach 2:
The patent utilizes parameter changes in the motion control approach by transitioning from fixed velocity profiles to dynamic, continuously adjustable motion parameters. The system calculates and adjusts position, velocity, and acceleration parameters in real-time during the pick-up process, enabling the end effector to maintain optimal motion states throughout the operation rather than following predetermined static trajectories.
Data Source
AI summary
A robot control method includes: controlling an end effector of the robot to collide with a target object in a process of the end effector moving to the target object; controlling the end effector to rotate relative to the target object, to adjust the target object to a target pose corresponding to a pick-up action; and controlling the end effector to pick up the target object after the target object is adjusted to the target pose; wherein the end effector is in motion during an entire phase from the end effector colliding with the target object to picking up the target object.