Robot Path Deviation Control for Safe Faster Displacement
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Solution Overview
Problem
Controlling the displacement of a robot from an initial pose to a target pose in a plurality of coordinates is challenging due to the complexity of finding an inherent coordinate vector, and ensuring safe operation while minimizing deviations from a nominal path to avoid collisions and optimize productivity is difficult, especially in dynamic environments.
Innovation Solution
A method that provides a movement command specifying a target pose and a nominal path with an allowed deviation, allowing the robot to move along a real path that deviates no more than the allowed deviation, enabling efficient and safe operation by minimizing unnecessary movements and energy consumption, and adapting to changes in the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If strict path control is implemented to ensure safety and avoid collisions, then collision risk is reduced, but robot displacement speed decreases and productivity is reduced
Solution Approach 1:
The patent applies dynamics by transitioning from static strict path following to dynamic adaptive path following. The robot dynamically adjusts its path within an allowed deviation envelope based on real-time conditions, enabling faster movement while maintaining safety margins through continuous adaptation rather than rigid constraint adherence
Solution Approach 2:
The patent changes the control parameter from exact path coordinates to allowed deviation boundaries. By specifying a maximum deviation distance from the nominal path rather than requiring precise path following, the system enables faster robot displacement while maintaining safety through boundary constraints rather than point-by-point control
2Measurement precision
If strict pose control is implemented at target pose to ensure precision, then positioning accuracy is improved, but displacement time increases and productivity decreases
Solution Approach 1:
The patent applies partial action by controlling the robot to reach a pose within an allowed deviation envelope around the target pose rather than requiring exact positioning. This partial control approach reduces displacement time while maintaining sufficient positioning accuracy for safe operation, accepting that the robot will stop within a small region rather than at an exact coordinate
3Reliability
If continuous path verification is implemented to ensure safety in dynamic environments, then collision avoidance is improved, but control complexity and processing time increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating the allowed deviation envelope and safety margins before robot execution. This preprocessing step creates predetermined safety boundaries that simplify real-time control, as the robot only needs to stay within these pre-established boundaries rather than performing complex continuous verification of exact path adherence
Data Source
AI summary
A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.