Robot Manipulator Path Correction for Boundary Collision Avoidance
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Solution Overview
Problem
Robots used in food preparation and serving often face challenges in maintaining precise and delicate movements, leading to potential collisions with boundaries, which can result in damage and reduced operational efficiency.
Innovation Solution
A robot system that includes a manipulator and a processor capable of setting boundaries and generating collision-free paths to prevent exceeding these boundaries, ensuring the robot moves within predefined limits by correcting generated paths that go beyond them.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot generates a path based on execution instructions, then the operational efficiency is improved, but the robot may go beyond the boundary and cause collision damage
Solution Approach 1:
The system performs preliminary path verification by checking whether the generated first path exceeds the boundary before executing the path. When the path is found to exceed the boundary, a second corrected path is generated in advance that remains within the boundary. This preliminary action prevents collision damage before it occurs while maintaining operational efficiency.
2Manufacturing precision
If the robot performs precise and delicate manipulations for food preparation, then the manufacturing precision is improved, but the complexity of control increases
Solution Approach 1:
The path planning is segmented into two distinct phases: generating a first path based on execution instructions, and verifying/correcting the path against boundary constraints. This segmentation allows the system to maintain high manipulation precision while managing control complexity through structured, modular path processing steps.
Data Source
AI summary
Disclosed is a robot including a manipulator for moving a tool; and a processor for controlling the manipulator, setting a boundary, generating a first path in response to a received execution instruction, generating a second path that does not extend beyond the boundary based on the first path and the boundary, and controlling the manipulator based on the second path.