Robot Simulation Path Planning With Collision-Free Via-Points
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Solution Overview
Problem
Existing robot simulators lack the capability to automatically generate collision-free paths for robot movements while considering obstacles and user-defined via-points, making it difficult to efficiently program and operate robots in complex environments.
Innovation Solution
A robot simulator that stores model information about the robot and obstacles, allows input of start and end positions, and generates paths while avoiding collisions, along with image data illustrating obstacles and via-points, enabling intuitive path adjustments and optimization based on user-defined criteria.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automatic path generation with collision avoidance is implemented, then robot operation efficiency is improved, but device complexity increases
Solution Approach 1:
The patent uses virtual model information to create a digital copy of the robot and obstacles, allowing path generation simulations to be performed in the virtual environment without affecting the actual robot system. This copying approach enables complex path planning algorithms to run independently, improving robot operation efficiency while containing the complexity within the simulation software rather than the physical system.
Solution Approach 2:
The patent introduces a processing device that acts as an intermediary between the virtual model information and the robot control system. This intermediary generates teaching data based on simulated paths and transfers it to the robot controller, enabling automatic path generation with collision avoidance while maintaining a clear separation between the simulation complexity and the actual robot control architecture.
2Ease of operation
If visual illustration of obstacles and via-points is provided, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The patent employs visual differentiation through color coding to represent various elements such as obstacles, via-points, and robot positions in the generated images. By using distinct colors and visual markers, the system provides intuitive path adjustment capabilities where users can easily identify different components and make necessary modifications without dealing with complex technical parameters.
Solution Approach 2:
The patent creates visual copies of the virtual environment elements (obstacles, via-points, robot paths) in the form of generated images. These visual representations serve as simplified interfaces for users to understand and adjust paths, translating complex spatial relationships into easily interpretable graphical displays without requiring users to comprehend the underlying computational complexity.
3Reliability
If collision avoidance path generation is implemented, then reliability is improved, but calculation time increases
Solution Approach 1:
The patent performs collision avoidance calculations and path generation in advance during the simulation phase, before the actual robot execution. By pre-generating teaching data with collision-free paths using virtual model information, the system ensures reliable collision-free operation during actual robot execution while minimizing real-time computational requirements and path generation time.
Solution Approach 2:
The patent uses virtual model information as a copy of the physical environment to perform iterative collision detection and path optimization calculations. These calculations are executed in the virtual environment where time consumption does not impact actual robot operation, allowing thorough collision avoidance analysis to be performed beforehand, ensuring reliability without adding time loss to the actual robot execution.
Data Source
AI summary
A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.