Robot Pose Constraint Management Using Workpiece Symmetry
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Solution Overview
Problem
Tasking robots in an unnatural, over-constrained manner complicates the specification of robotic tasks, as it requires precise positioning and orientation, which is not intuitive or efficient, especially when dealing with symmetrical workpieces or end effectors that can be grasped or placed in multiple ways.
Innovation Solution
A system and method that utilize a graphical user interface to determine an allowable range of robot poses based on degrees of symmetry associated with the workpiece or end effector, allowing for fewer constraints than the initial approach, and communicate these poses to the robot, enabling natural tasking by optimizing the use of extra degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If precise positioning and orientation constraints are applied to robot tasks, then task specification becomes more accurate, but tasking complexity and difficulty increase
Solution Approach 1:
The patent extracts and removes unnecessary constraints from robot task specifications. By identifying and eliminating redundant positioning and orientation requirements, the system maintains task accuracy while reducing tasking complexity. This is achieved through analyzing the essential degrees of freedom needed for task completion and removing excessive constraints.
Solution Approach 2:
The patent introduces dynamic constraint management where constraints are applied selectively based on task requirements. Rather than applying fixed precise constraints to all robot tasks, the system dynamically determines which constraints are necessary and which can be relaxed, thereby maintaining accuracy where needed while reducing overall complexity.
2Manufacturing precision
If multiple constraints are applied to robot poses, then task performance precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent applies constraints locally rather than globally. Instead of imposing uniform precise constraints on all robot poses, the system applies constraints only to specific degrees of freedom that are critical for task performance. This allows operators to work with fewer constraints overall while maintaining precision where it matters most.
Solution Approach 2:
The patent implements partial constraint application by identifying the minimum necessary constraints for task success. Rather than applying all possible constraints, the system applies only the essential subset, making operation easier while maintaining sufficient precision for task completion.
3Manufacturing precision
If symmetric workpieces are grasped with fixed orientation, then grasp precision is improved, but adaptability deteriorates
Solution Approach 1:
The patent enables the grasp system to handle multiple orientations of symmetric workpieces through a single grasp specification. By recognizing the symmetry properties of workpieces, the system allows the same grasp command to be valid for multiple rotated positions, thereby improving adaptability while maintaining grasp precision through the symmetry-aware constraint relaxation.
4Manufacturing precision
If fixed robot poses are specified for tasks, then task execution accuracy is improved, but productivity deteriorates
Solution Approach 1:
The patent transitions from static fixed pose specification to dynamic pose ranges. By defining acceptable pose ranges rather than single fixed poses, the system allows robots to adapt their positions within acceptable boundaries, improving execution accuracy while enabling more flexible and efficient task completion that can account for variations in workpiece positioning.
Solution Approach 2:
The patent changes the parameter representation from discrete fixed poses to continuous pose ranges. This parameter transformation allows the robot to operate within a spectrum of acceptable positions and orientations, maintaining task execution accuracy while improving productivity by reducing the need for precise repositioning and allowing more flexible path planning.
Data Source
AI summary
Embodiments of the present disclosure are directed towards a robotic system. The system may include a robot configured to receive an initial constrained approach for performing a robot task. The system may further include a graphical user interface in communication with the robot. The graphical user interface may be configured to allow a user to interact with the robot to determine an allowable range of robot poses associated with the robot task. The allowable range of robot poses may include fewer constraints than the initial constrained approach. The allowable range of poses may be based upon, at least in part, one or more degrees of symmetry associated with a workpiece associated with the robot task or an end effector associated with the robot. The system may also include a processor configured to communicate the allowable range of robot poses to the robot.