Robot Movement Sequence Optimization for Pose Uncertainty
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Solution Overview
Problem
Existing methods for determining optimized movement sequences for robot devices fail to account for uncertainties in the pose of the items and the robot device, leading to potential errors and inaccuracies in positioning items.
Innovation Solution
A method that simulates movement sections of a robot device while considering uncertainties in the pose of both the items and the robot device, and determines an optimized movement sequence based on these simulations and constraints such as starting and target poses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional movement sequence determination methods are used for robot devices, then the movement planning is simpler and faster, but the positioning accuracy deteriorates due to unaccounted uncertainties in item pose and robot device pose
Solution Approach 1:
The patent applies preliminary action by performing simulations of movement sections before executing the actual movement sequence. The simulation step predicts potential positioning errors due to uncertainties in item pose and robot device pose, allowing the system to pre-calculate compensation values and determine an optimized movement sequence that accounts for these uncertainties in advance, thereby improving positioning accuracy without adding complexity to the actual execution
Solution Approach 2:
The patent uses copying by creating a virtual model (simulation) of the robot device and its environment to test and optimize movement sequences. Instead of directly experimenting with real movements that could result in positioning errors, the system creates and evaluates multiple simulated copies of the movement sequence, selects the optimal one, and then executes it on the actual robot device, thereby improving positioning accuracy while keeping the real system simple
2Reliability
If sophisticated error reduction methods are employed to account for pose uncertainties, then positioning reliability improves, but the complexity and computational requirements increase
Solution Approach 1:
The patent applies self-service by enabling the simulation system to automatically evaluate multiple movement sequences and identify the optimal one without requiring complex external error reduction methods. The simulation inherently accounts for uncertainties in item pose and robot device pose by incorporating these uncertainties into the movement section predictions, allowing the system to self-determine the optimized movement sequence that maximizes positioning reliability
Solution Approach 2:
The patent uses parameter changes by varying the movement sequence parameters (such as speed, acceleration, and path) in the simulations to find the optimal combination that accounts for pose uncertainties. By changing these parameters in the virtual model and evaluating their impact on positioning accuracy, the system determines an optimized movement sequence that improves reliability without requiring sophisticated error reduction hardware or complex control algorithms
3Manufacturing precision
If multiple movement sequences are simulated and evaluated to find the optimal one, then positioning accuracy improves, but the determination time increases
Solution Approach 1:
The patent applies partial action by simulating and evaluating only the most promising movement sequences rather than exhaustively testing all possible sequences. The simulation system uses the uncertainties in item pose and robot device pose to identify and focus on movement sections that are most likely to result in positioning errors, optimizing only those critical sections while keeping the overall determination process efficient, thereby improving positioning accuracy without excessive determination time
Data Source
AI summary
A method for determining an optimized sequence of movements of a robot device for moving a first object in such a way that the first object is brought into a target position independently of an uncertainty of a position of the first object in relation to a second object and/or independently of an uncertainty of a position of the robot device is provided. The method includes: simulating movement portions of the robot device taking account of the uncertainty of the position of the first object and/or the uncertainty of the position of the robot device; and determining the optimized sequence of movements of the robot device taking account of the simulated movement portions and boundary conditions which specify at least one starting position and the target position of the first object. An optimized sequence of movements is determined, by which the robot device can guide the first object reliably into its target position.