Robot Path Interference Checks With Positional and Timing Errors
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Solution Overview
Problem
Existing path generation devices for robots only consider a fixed clearance amount for each joint and obstacle, failing to account for flexible obstacles and various error factors, which can lead to potential interference despite set intervals.
Innovation Solution
An interference determination device that registers start and end points, interference determination conditions, and determines interference considering characteristics of obstacles and error factors such as positional and synchronization errors, allowing for more accurate path generation to avoid obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed clearance amount is set for each joint and obstacle, then the robot path secures an interval between the robot and obstacle, but it fails to account for flexible obstacles and error factors leading to potential interference
Solution Approach 1:
The patent changes the interference determination parameters from a single fixed clearance amount to multiple dynamic parameters including interference allowable distance, positional error, and synchronization time error. This allows the system to adapt to different obstacle types (rigid vs. flexible) and error conditions, improving reliability while managing complexity through structured parameter registration
Solution Approach 2:
The patent introduces dynamic interference determination by allowing the interference allowable distance to be adjusted based on obstacle characteristics (rigid or flexible). The system dynamically selects and applies appropriate determination conditions rather than using static clearance values, enabling adaptation to varying operational conditions and error factors
2Reliability
If the interference allowable distance is increased to account for error factors, then the robot can move more freely, but the path may become too conservative and reduce productivity
Solution Approach 1:
The patent applies local quality by setting different interference allowable distances for different segments of the robot's motion path. Rather than applying a uniform conservative distance throughout, the system determines interference allowance locally at each position based on actual obstacle proximity, flexibility characteristics, and error conditions, allowing the robot to move efficiently where safe while maintaining reliability where needed
Data Source
AI summary
An interference determination device includes a registration unit that registers a start point and an end point of a motion of a robot, an interference determination unit that determines whether the robot interferes with an obstacle when the robot moves along a path from the start point to the end point, and an interference determination condition registration unit that registers an interference determination condition including at least one of an interference allowable distance that allows the interference with the obstacle, a positional error that is included in a relative position between the robot and the obstacle when the relative position is grasped, and a synchronization time error when the obstacle is a movable object that moves along a predetermined path in synchronization with the motion of the robot. The interference determination unit determines whether the robot interferes with the obstacle in consideration of the interference determination condition.