Robot Motion Path Visualization for Operator-Aware Path Planning
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Solution Overview
Problem
Conventional robot path planning methods, relying on scripting and trajectory optimization, can be impenetrable to operators, leading to potential safety hazards and reduced user acceptance in human-robot collaboration due to the lack of visibility into the robot's motion paths.
Innovation Solution
A method and system that provides operators with a selection of potential motion paths, allowing them to visualize and influence the robot's path planning through their behavior, using an operator interface that senses and responds to the operator's actions, integrating their preferences into the path optimization process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If trajectory optimization is used for robot path planning, then the robot moves optimally to fulfill the task, but the operator cannot predict the resulting optimal path until execution begins, leading to safety hazards and reduced user acceptance
Solution Approach 1:
The system performs preliminary action by visualizing multiple potential motion paths to the operator before the robot executes any movement. This allows the operator to understand and predict the robot's intended paths in advance, enabling them to make informed decisions about workspace arrangement and potential obstructions before execution begins, thus resolving the contradiction between optimal path execution and operator awareness
Solution Approach 2:
The system implements feedback by continuously monitoring operator behavior (such as gaze direction, body orientation, and manual intervention) during path visualization and using this information to influence the final path selection. This closed-loop feedback mechanism ensures the operator remains engaged and informed about the robot's planned movements while still achieving optimal path planning
2Productivity
If the operator is not aware of the robot path, then the optimization process can proceed without interruption, but the operator might accidentally obstruct the robot motion with tools, workpieces, or their body
Solution Approach 1:
The system addresses this contradiction by performing preliminary visualization of multiple potential paths before execution. This allows the operator to mentally prepare and arrange the workspace to avoid obstructions while the optimization process proceeds. The operator can see potential robot trajectories in advance and take preventive actions to avoid blocking them
Solution Approach 2:
The system monitors operator behavior during visualization and uses this feedback to identify potential obstruction risks. If the operator's behavior suggests they may obstruct a particular path (such as positioning themselves or tools in the robot's path), the system can adjust the path selection or alert the operator, thus preventing obstructions while maintaining an efficient optimization process
3Ease of operation
If the operator can make a conscious choice among potential motion paths, then user acceptance and safety improve, but the path planning process becomes more complex
Solution Approach 1:
The system applies segmentation by dividing the path planning process into distinct phases: generating multiple potential paths through automated optimization, visualizing these paths to the operator, monitoring operator behavior, and selecting the final path based on combined criteria. This segmentation allows the complex path planning task to be broken down into manageable steps, providing operator control without overwhelming system complexity
Solution Approach 2:
The operator interface acts as an intermediary between the automated path optimization system and the operator. It presents multiple potential paths in an understandable format, captures operator preferences through behavior monitoring, and translates these preferences into path selection criteria. This intermediary layer simplifies the interaction and manages complexity by handling the computational aspects while the operator provides high-level guidance
Data Source
AI summary
A method of responsive robot path planning implemented in a robot controller, including: providing a plurality of potential motion paths of a robot manipulator, wherein the potential motion paths are functionally equivalent with regard to at least one initial or final condition, a transportation task and/or a workpiece processing task; causing an operator interface to visualize the potential motion paths, wherein the operator interface is associated with an operator sharing a workspace with the robot manipulator; obtaining operator behavior during the visualization; and selecting at least one preferred motion path based on the operator behavior. A method in an operator interface, including obtaining from a robot controller a plurality of potential motion paths of the robot manipulator; visualizing the potential motion paths; sensing operator behavior during the visualization; and making the operator behavior available to the robot controller.