Robot Placement Simulation for Interference-Free Path Planning
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Solution Overview
Problem
Current robot path generation systems face challenges in efficiently determining optimal robot placement and paths to avoid interference with other objects in a workspace, leading to potential collisions and inefficiencies in automation processes.
Innovation Solution
A simulation system that determines robot placement and generates paths based on spatial relationships, checks for interference, and adjusts placement or tasks to prevent collisions, outputting an operation program with adjusted paths and tasks to ensure safe and efficient robot operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot placement and paths are determined without comprehensive interference checking, then processing time is reduced, but collision risk increases
Solution Approach 1:
The system performs preliminary interference checking during the path generation phase by simulating robot operations in a virtual space before actual execution. This advance verification identifies potential collisions and allows path adjustments to be made beforehand, ensuring collision avoidance while minimizing impact on actual processing time.
Solution Approach 2:
The invention creates a virtual copy of the robot and workspace environment to perform simulation and interference checking. By operating on this digital replica rather than the physical system, the system can conduct comprehensive safety verification without affecting real-world production timelines.
2Reliability
If comprehensive interference checking is performed, then collision risk is reduced, but processing complexity increases
Solution Approach 1:
The interference checking process is divided into distinct segments: placement constraint verification, path generation, virtual execution, and collision detection. Each segment handles a specific aspect of the verification process, making the overall complex task more manageable and systematic.
Solution Approach 2:
The virtual space serves as an intermediary environment between path planning and physical execution. It mediates the complexity by providing a sandbox for comprehensive interference checking without directly complicating the physical robot system or control infrastructure.
3Reliability
If robot placement is adjusted to avoid interference, then collision avoidance is improved, but task execution efficiency may deteriorate
Solution Approach 1:
The system dynamically adjusts robot placement and paths based on interference detection results while maintaining task constraints. The virtual execution allows for iterative optimization where placement and paths are refined to balance collision avoidance with task execution efficiency, rather than using static pre-determined configurations.
Solution Approach 2:
The system modifies placement parameters and path parameters iteratively during virtual execution to achieve optimal balance between collision avoidance and task efficiency. By changing these parameters in the virtual environment first, the system finds configurations that satisfy both safety and productivity requirements before physical implementation.
Data Source
AI summary
A simulation system includes circuitry configured to: determine placement of a robot with respect to another object in a virtual space, based on a placement constraint applied to the robot for executing a plurality of tasks; generate a path representing a trajectory of at least a portion of the robot or a tool operated by the robot during the tasks, based on a spatial relationship between the determined placement of the robot and the other object that satisfies the placement constraint; execute an operation program including the generated path in the virtual space in which the robot and the other object are placed; and check whether the robot interferes with the other object, based on the spatial relationship between the determined placement of the robot and the other object along the generated path in the virtual space, as a result of executing the tasks in the operation program.