Robot Motion Program Generation via Tolerance Region Obstacle Avoidance
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Solution Overview
Problem
Existing robot motion generating apparatuses fail to effectively generate a robot motion program that avoids obstacles, especially when the taught trajectory is inappropriate or contains unwanted curved lines, leading to inefficient motion and potential collisions.
Innovation Solution
A robot motion program generating apparatus that includes a trajectory inputting section, a region setting section, a point-group setting section, and a program generating section, which sets a tolerance region around the trajectory, determines motion points within this region to connect through line segments while avoiding obstacles, and iteratively adjusts these points to maximize similarity to the taught trajectory, thereby generating an efficient and obstacle-avoiding motion program.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot follows the taught trajectory directly, then the motion path is simple, but the robot may collide with obstacles when the trajectory is inappropriate
Solution Approach 1:
The patent divides the trajectory into multiple line segments connecting discrete motion points. By segmenting the continuous trajectory into discrete points that can be individually adjusted within tolerance regions, the system can avoid obstacles while maintaining overall trajectory fidelity. This segmentation allows the motion program to be composed of simple linear segments rather than complex curved paths.
Solution Approach 2:
The patent introduces tolerance region parameters that define acceptable deviations from the taught trajectory. By changing the parameter representation from exact trajectory coordinates to tolerance-based motion points, the system gains flexibility to adjust robot positions within acceptable ranges to avoid obstacles while keeping the motion program relatively simple.
2Reliability
If the trajectory is divided into smaller line segments to avoid obstacles, then collision risk is reduced, but motion efficiency decreases due to increased path complexity
Solution Approach 1:
The patent applies partial action by dividing the trajectory into line segments only where necessary to avoid obstacles, rather than segmenting the entire path uniformly. The tolerance region allows the robot to follow the original trajectory closely where possible, and only deviate when obstacle avoidance is required, thus maintaining motion efficiency while ensuring safety.
Solution Approach 2:
By using tolerance region parameters, the system can maintain larger motion points (fewer segments) where the original trajectory is safe, and only create smaller motion points (more segments) where obstacle avoidance is needed. This parameter-based approach optimizes the balance between segmentation for safety and point density for efficiency.
3Device complexity
If motion points are determined only on the taught trajectory, then the motion program is simple, but the robot cannot avoid obstacles when trajectory varies
Solution Approach 1:
The patent extends the motion point determination from the one-dimensional trajectory line to a two-dimensional tolerance region surrounding the trajectory. This dimensional expansion allows motion points to be positioned not only on the original path but also within the tolerance bounds, providing the additional freedom needed to avoid obstacles while keeping the motion program relatively simple.
Solution Approach 2:
The system changes the parameter space for motion point determination from exact trajectory coordinates to a tolerance-based coordinate system. This parameter change allows the motion program to specify points within acceptable deviation ranges rather than requiring exact trajectory adherence, enabling obstacle avoidance without significantly increasing program complexity.
4Measurement precision
If the robot closely follows the taught trajectory, then trajectory accuracy is high, but the robot may pass too close to obstacles
Solution Approach 1:
The patent applies local quality by allowing different degrees of trajectory adherence at different locations. Where the original trajectory is safe from obstacles, motion points are determined to maintain high trajectory accuracy. Where obstacles are present, motion points are allowed to deviate within the tolerance region to maintain safe distances, thus applying different quality standards locally along the trajectory.
Solution Approach 2:
The tolerance region parameter enables the system to transition from exact trajectory following (zero tolerance) to flexible trajectory following (non-zero tolerance) based on local obstacle conditions. This parameter change allows the robot to maintain high accuracy where safe and increase deviation where necessary to avoid obstacles, balancing precision and safety.
Data Source
AI summary
A robot motion program generating apparatus generates a motion program for moving a robot, avoiding an obstacle. The apparatus comprises a section inputting a taught trajectory of the robot, a section setting a tolerance region around the trajectory inputted by the trajectory inputting section, a section setting a motion-point group that is a collection of the motion points, by determining motion points of the robot in the tolerance region set by the region setting section, and iterating a task of connecting a source motion point to a subsequent motion point through a line segment, avoiding the obstacle, starting from one end and ending at the other end of the trajectory, and a section generating the motion program, based on the motion-point group set by the point-group setting section.