Robot Motion Generation With Orientation and Acceleration Priorities
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Solution Overview
Problem
Conventional robot motion generation algorithms prioritize shortest movement time without considering orientation or acceleration, leading to issues like workpiece overturning and component detachment, requiring manual intervention and reducing efficiency.
Innovation Solution
A motion generation method that acquires and considers both orientation information and priority items such as speed, acceleration, and orientation, allowing for the generation of optimized robot motions that account for the specific needs of the operation and environment, including obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If motions that achieve the shortest movement time are generated, then productivity is improved, but reliability deteriorates due to workpiece overturning and component detachment
Solution Approach 1:
The patent changes the motion generation parameters by introducing priority items (acceleration limits, orientation constraints) alongside traditional path planning. This allows the system to generate motions that respect physical constraints of the workpiece while still optimizing for speed, resolving the contradiction between productivity and reliability
Solution Approach 2:
The system dynamically adjusts motion parameters based on the selected priority item. When reliability is prioritized, the system reduces acceleration and maintains orientation constraints. When productivity is prioritized, it optimizes path speed while still respecting minimum safety constraints. This dynamic adjustment resolves the fixed trade-off between speed and stability
2Productivity
If motions are generated without considering orientation, then productivity is improved, but manufacturing precision deteriorates due to workpiece orientation errors
Solution Approach 1:
The patent introduces orientation as a configurable priority item with specific parameter constraints (orientation angles, tolerance ranges). This allows the system to automatically generate motions that maintain precise workpiece orientation while still optimizing for speed, eliminating the need to choose between productivity and precision
3Productivity
If motions are generated without considering acceleration, then productivity is improved, but reliability deteriorates due to component detachment
Solution Approach 1:
The patent introduces acceleration as a priority item with configurable limits. The motion generation system calculates acceleration profiles that respect these limits while maintaining optimal speed. This resolves the contradiction by allowing high-speed motion where acceleration constraints are satisfied and reducing speed only where necessary to prevent component detachment
4Reliability
If manual teaching of optimum motions is performed, then reliability is improved, but productivity deteriorates due to decreased work efficiency
Solution Approach 1:
The system performs self-service by automatically generating optimized motions based on priority items and operation content. It uses sensors to detect workpiece characteristics and automatically adjusts motion parameters without requiring manual teaching. This maintains high reliability through algorithmic optimization while preserving productivity by eliminating time-consuming manual intervention
Data Source
AI summary
A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.