Robot Motion Planning for Gripped Tool Interference Avoidance

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Solution Overview

Problem

When a robot frequently changes tools, using a tool changer can be time-consuming, and gripping tools with a gripper can lead to interference with the surrounding environment due to varying tool sizes and orientations.

Innovation Solution

A robot control apparatus that includes a calculating unit to determine the interference range of the robot based on a model of the robot with a gripped object and a planning unit to plan the robot's motion to avoid interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a tool changer is used to frequently change tools, then the robot can use a plurality of tools as appropriate, but it takes time to change the tool

Engineering Contradiction:

Improvetool change capabilityVSAvoidtool change time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent extracts the tool from the tool changer system and has the robot gripper directly grip and hold the tool. This eliminates the tool changer mechanism entirely, allowing the robot to quickly switch between tools by simply releasing one tool and gripping another, thereby reducing tool change time while maintaining the ability to use multiple tools.

Inventive Principle:

Principle #2Taking out (Extraction)

2Loss of time

If a tool is gripped by a gripper to reduce tool change time, then the time required to switch the tool can be reduced, but there is a risk that the tool interferes with the surrounding environment when the tool to be gripped changes

Engineering Contradiction:

Improvetool change timeVSAvoidinterference with surrounding environment

Core Design Contradiction:

Loss of timeVSObject-affected harmful factors

Solution Approach 1:

The patent performs preliminary action by calculating the interference range of the robot arm and tool in advance before actual tool usage. The control device uses this pre-calculated interference range information to plan tool change operations that avoid surrounding obstacles, thereby preventing interference with the environment while maintaining quick tool switching capability.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent implements feedback by continuously monitoring the robot's position and tool configuration, and using this information to adjust tool change operations. The control device receives feedback about the current state and uses it to plan safe tool change paths that avoid interference with the surrounding environment.

Inventive Principle:

Principle #23Feedback

3Loss of time

If the same tool is used with a gripper, then tool change time is reduced, but the gripping position and orientation of the tool may change, creating interference risk

Engineering Contradiction:

Improvetool change timeVSAvoidtool positioning accuracy

Core Design Contradiction:

Loss of timeVSReliability

Solution Approach 1:

The patent performs preliminary action by calculating the interference range based on the specific gripping position and orientation of the tool before tool changes. This pre-calculation ensures that even when the same tool is gripped in different positions or orientations, the control device can plan operations that avoid interference, maintaining both quick tool switching and reliable positioning.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12269165B2Robot control apparatus, robot control system, robot control method, and computer-readable storage medium storing a robot control program

Publication Date: 2025.04.08 OMRON CORP

AI summary

A robot control apparatus according to one or more embodiments may include: a calculating unit configured to calculate an interference range of a robot based on a model of the robot in a state in which an object is gripped by a gripper with which the robot is equipped; and a planning unit configured to plan a motion of the robot based on the model and the interference range.