Robot Motion Path Planning with Joint-Limited Via Point Search
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Solution Overview
Problem
Existing motion path generation devices for robots with multiple joints are inefficient due to high interference probabilities and excessive unnecessary calculations, as they rely on large search areas that often result in via point candidates interfering with obstacles, leading to wasted calculations.
Innovation Solution
A motion path generation device that narrows the search area by setting a maximum movement amount for each joint, using a reference joint with a smaller movement amount per unit angle change, and adding via points only if they do not interfere with obstacles, thereby reducing the likelihood of interference and unnecessary calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a large search area is used for generating via point candidates, then the coverage of possible motion paths increases, but the interference probability with obstacles increases and unnecessary calculations increase
Solution Approach 1:
The search space is segmented by dividing it into multiple search areas centered at different via points. Instead of searching the entire space at once, the algorithm performs localized searches in smaller regions, reducing interference probability while maintaining comprehensive coverage through multiple segmented search zones.
Solution Approach 2:
The search strategy employs local quality by adapting the search area size and position to specific local conditions. Search areas are dynamically positioned and sized based on local obstacle distribution and via point characteristics, allowing efficient exploration of promising regions while avoiding areas with high interference probability.
2Productivity
If the search area is reduced to minimize interference, then calculation efficiency improves, but the coverage of possible motion paths decreases
Solution Approach 1:
The algorithm performs periodic searches by repeatedly generating via point candidates in cycles. Each cycle involves setting a search area, generating candidates, determining interference, and adding non-interfering via points. This periodic execution with multiple passes ensures comprehensive coverage while maintaining efficiency in each individual search phase.
Solution Approach 2:
The search area is preliminarily set based on existing via points and obstacle information before candidate generation. By pre-defining search boundaries and positions using already-established via points, the algorithm prepares optimized search zones that balance coverage and interference avoidance before the actual candidate generation process begins.
Data Source
AI summary
A motion path generation device generates a motion path of a robot that has a plurality of joints and a plurality of shafts. Adjacent two of the plurality of shafts are connected by a corresponding one of the plurality of joints. The motion path generation device generates a via point candidate that is a candidate of a next via point to be connected to a parent via point. The motion path generation device adds the via point candidate as a new via point in response to determining that the via point candidate does not interfere with an obstacle.