Robot-Peripheral Operation Sequencing for Object Handover Tasks
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Solution Overview
Problem
Existing control methods for robots are silent on the determination of operations when delivering or receiving objects to/from other devices, necessitating a suitable method for generating operation sequences.
Innovation Solution
A control device and method that generate operation sequences for robots and peripheral equipment based on robot operation information and peripheral equipment information, using a processor to execute tasks by decomposing them into subtasks and optimizing control inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot executes a task involving object delivery or reception, then the task functionality is improved, but the operation sequence determination becomes complex and undefined
Solution Approach 1:
The patent segments the overall task into distinct subtasks: robot operations and peripheral equipment operations. By dividing the operation sequence into separate components (robot task sequence and peripheral equipment task sequence), the system manages complexity through structured decomposition rather than handling the entire operation sequence as a single undifferentiated unit.
Solution Approach 2:
The patent introduces an intermediary determination process that uses operation information from both the robot and peripheral equipment to generate coordinated task sequences. This intermediary mechanism mediates between the robot's operational capabilities and the peripheral equipment's delivery/reception functions, producing a synchronized operation sequence that resolves the complexity of direct coordination.
2Device complexity
If the robot operates independently without coordinated sequence generation, then the control system is simpler, but the coordination with peripheral equipment deteriorates
Solution Approach 1:
The patent implements a feedback mechanism where operation information from both the robot and peripheral equipment is collected and processed to determine coordinated task sequences. The system uses this feedback loop to continuously adjust and synchronize the operation sequences, ensuring reliable coordination while maintaining a relatively simple control structure through information-based regulation rather than complex hard-wired control.
Solution Approach 2:
The patent merges the operation information from the robot and peripheral equipment into a unified determination process. By combining the operation sequences into a coordinated framework where both components' information is integrated, the system achieves reliable coordination without requiring dramatically increased control system complexity.
Data Source
AI summary
A control device 1C includes an operation sequence generation means 37C. The operation sequence generation means 37C is configured to generate, based on robot operation information Ir indicating operation characteristics of a robot executing a task and peripheral equipment information Ip indicating operation characteristics of peripheral equipment which delivers or receives an object relating to the task to or from the robot, operation sequences Sra and Spa indicating operations to be executed by the robot and the peripheral equipment, respectively.