Robot Path Re-Entry Using Nearest Deployment Position
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for robot movement along predetermined paths require robots to return to the end position of a path section, leading to extended off-path travel when the end position is far from the current robot position, which is inefficient and potentially collision-prone.
Innovation Solution
A method for robot movement that determines a deployment position on the current path section based on a distance parameter, ensuring the robot moves to a position that is as close as possible to its current position while remaining on the path, thereby minimizing off-path travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot is moved to the end position of the current path section along a linear path (set-coincidence movement), then the robot can be positioned on the current path section, but extended travels offside of the predetermined path occur which may cause collisions and inefficiency
Solution Approach 1:
The control device determines a deployment position on the current path section before the robot actually needs to be positioned, by evaluating distance parameters and selecting an optimal position in advance. This preliminary determination allows the robot to move directly to the deployment position rather than taking a lengthy detour to the end position, thus reducing travel time while ensuring the robot ends up on the correct path section.
2Ease of operation
If the robot is moved to the end position of the current path section along a linear path, then the robot can be positioned on the current path section, but the travels offside of the predetermined path may cause collisions
Solution Approach 1:
The control device performs preliminary determination of a deployment position that is guaranteed to be on the current path section. By calculating distance parameters and selecting an optimal position in advance, the system ensures the robot will move along a safe, collision-free path while still achieving the goal of positioning the robot on the correct path section.
3Loss of time
If the robot moves along an optimized and collision-free predefined path, then travel efficiency is improved, but the robot may not reach the end position of the current path section accurately
Solution Approach 1:
The control device continuously monitors the robot's actual position and compares it with the planned path. Based on this feedback, the system can determine an appropriate deployment position that ensures both efficient travel and accurate positioning. The feedback mechanism allows the system to adjust the deployment position selection to guarantee the robot reaches the correct location on the current path section while maintaining travel efficiency.
Data Source
AI summary
A method for moving along a predetermined path with a robot in an at least a partially automated manner includes determining a deployment position on a current path section of the predetermined path for which a distance parameter satisfies a predetermined condition, and moving to the deployment position with the robot. In one aspect, the robot may be moved to the deployment position if a deployment condition is satisfied. The distance parameter may be determined on the basis of a distance of a current position of the robot relative to the current path section. The predetermined condition may be that the distance parameter has a value that is less than or equal to the values of the distance parameter of all positions in a partial area of the current path section, which is in particular complementary to the deployment position.