Robot Pickup Device Position Posture Selection
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Solution Overview
Problem
Conventional pickup devices for robots face challenges such as deviation from the robot's movement range, increased cycle time, and interference with obstacles due to suboptimal position and posture calculations for picking up objects, which hinder efficient object handling and stable conveyance.
Innovation Solution
A pickup device that includes a robot equipped with a sensor for measuring object positions and postures, a reference holding position and posture storage unit, a holding position and posture modification range, and a selection condition unit to determine and select optimal holding positions and postures based on priority, minimizing cycle time and avoiding interference with obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a predetermined reference position and posture are used for the robot to hold the object, then the robot can pick up objects in any position and posture, but the robot's position and posture may deviate from its movement range or cause interference with obstacles
Solution Approach 1:
The patent modifies the reference holding position and posture parameters based on the actual object's measured position and posture. Instead of using a fixed predetermined reference, the system calculates adjusted reference values that account for the specific object configuration, enabling the robot to adapt to various object positions while maintaining reliable movement within its operational range and avoiding obstacles.
2Reliability
If the robot moves to a position and posture for picking up the object, then the object can be picked up, but it may require much longer time to move the robot
Solution Approach 1:
The patent performs preliminary calculation of the optimal holding position and posture before the robot executes the pickup action. By pre-calculating the best position that balances accessibility and movement efficiency based on the object's measured position, the system avoids unnecessary robot movements and reduces the time required for the robot to reach the pickup position while ensuring successful object acquisition.
3Reliability
If candidates for robot position and posture are calculated in a predetermined order and sequentially judged, then interference can be avoided, but more desirable positions that reduce movement time are not always selected
Solution Approach 1:
The patent changes the evaluation parameters for selecting robot holding position and posture from a simple sequential judgment based on predetermined order to an optimized selection that considers multiple factors including movement time, obstacle avoidance, and pickup efficiency. The system calculates priority values for different candidate positions and selects the optimal one that best balances speed and safety requirements.
Solution Approach 2:
The patent implements a feedback mechanism where the calculated holding position and posture are evaluated against multiple criteria including potential interference with obstacles and expected movement time. The system uses this feedback information to adjust the selection and choose the optimal position that minimizes cycle time while ensuring safe operation, rather than simply following a predetermined sequential order.
Data Source
AI summary
A pickup device includes a robot for holding a target object, a sensor for measuring a position/posture of an object, a first storing unit for storing a reference holding position/posture, a second storing unit for storing a holding position/posture modification range, a calculating unit for calculating a holding position/posture of the robot based on the position/posture of the target object and the reference holding position/posture, a third storing unit for storing a selection condition determining priority of the holding position/posture, and a selecting unit for selecting a holding position/posture of the robot, based on the priority determined by the selection condition, among the holding positions/postures of the robot obtained from the holding position/posture of the robot and the holding position/posture modification range.