Robot Path Adjustment for Moving and Deforming Obstacles
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Solution Overview
Problem
Conventional robot systems face challenges in dynamically adjusting their movement paths to avoid interference with moving or deforming obstacles within their motion range, such as other robots or humans, while maintaining productivity and safety.
Innovation Solution
A robot system equipped with a feature point position detection unit, movement path calculation unit, mapping function derivation unit, and path adjustment unit that detects obstacle feature points, calculates an initial movement path, derives a mapping function based on obstacle position changes, and dynamically adjusts the path using this function to avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot waits outside the interference area when another robot is present (conventional interlock method), then safety is improved by preventing interference, but productivity deteriorates due to waiting time and reduced motion efficiency
Solution Approach 1:
The robot system dynamically adjusts the movement path in real-time based on the positions of obstacles detected during motion. The path adjustment unit continuously modifies the trajectory to avoid interference areas, allowing the robot to maintain motion rather than waiting statically, thus improving productivity while ensuring safety through dynamic collision avoidance.
Solution Approach 2:
The system calculates the initial movement path before robot motion begins, anticipating potential interference areas. By pre-planning the path and then dynamically adjusting it during execution based on real-time obstacle detection, the system prepares avoidance strategies in advance while adapting to actual conditions, reducing waiting time and improving productivity.
2Productivity
If the robot dynamically adjusts movement path during motion, then productivity is improved by continuous motion, but device complexity increases due to real-time path calculation and adjustment mechanisms
Solution Approach 1:
The path adjustment unit implements a feedback mechanism where the robot's current position and detected obstacle positions are continuously monitored. Based on this feedback, the system recalculates and adjusts the movement path in real-time, enabling dynamic collision avoidance while maintaining continuous motion for improved productivity.
Solution Approach 2:
The system replaces complex mechanical interlock mechanisms with software-based path calculation and adjustment algorithms. By using computational methods to determine safe trajectories and dynamically adjust paths based on sensor data, the system achieves collision avoidance without requiring additional mechanical safety devices, thus limiting the increase in device complexity.
3Device complexity
If the robot uses a fixed movement path, then device complexity is reduced by simple path control, but adaptability deteriorates when obstacles move or deform within the motion range
Solution Approach 1:
The movement path is transformed from a fixed static trajectory to a dynamic adaptive path that adjusts in real-time based on obstacle positions. The path adjustment unit continuously modifies the trajectory to accommodate moving or deforming obstacles, enhancing adaptability while maintaining relatively simple control architecture through incremental path modifications.
Solution Approach 2:
The system changes the parameters of the movement path dynamically based on detected obstacle positions. By adjusting path coordinates, velocity profiles, and timing parameters in real-time, the robot adapts to moving obstacles without requiring a complete redesign of the control system, thus improving adaptability with limited increase in complexity.
Data Source
AI summary
A robot system includes: a feature point position detection unit configured to detect, at a constant cycle, a position of a feature point of an obstacle that moves or deforms within a motion range of a robot; a movement path calculation unit configured to calculate a movement path of the robot before a motion of the robot; a mapping function derivation unit configured to derive a mapping function based on a position of the feature point that is detected at a time interval; and a path adjustment unit configured to dynamically adjust the movement path of the robot using the derived mapping function.