Robot Path Planning with Posture-Specific Clearance Checks
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Solution Overview
Problem
Existing robot simulators set a uniform clearance amount for each section, leading to unnecessarily long routes due to excessive clearance in sections where it is not necessary, and may fail to generate paths due to interference when different clearance amounts are applied to postures.
Innovation Solution
The system sets different clearance amounts for each section and determines interference based on the larger of these amounts, ensuring that the robot and obstacle do not interfere, and adjusts joint angles or positions to avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a uniform clearance amount is set for every section, then interference avoidance is ensured, but the route becomes unnecessarily large and tact time increases
Solution Approach 1:
The patent applies different clearance amounts to different sections based on local requirements. Specifically, it sets a first clearance amount for sections where the robot changes from a first posture to a second posture, and a second clearance amount for sections where the robot changes from the second posture to a third posture. This local differentiation allows the route to be optimized for each specific section rather than using a uniform clearance amount throughout, thereby reducing unnecessary route length and tact time while maintaining interference avoidance where needed.
Solution Approach 2:
The patent dynamically adjusts the clearance amount based on the robot's posture changes and section characteristics. By determining interference based on the greater of the first or second clearance amounts when the robot is in the second posture, the system adaptively selects the appropriate clearance level for each situation, optimizing the route generation process.
2Loss of time
If a different clearance amount is set for each section, then route optimization is achieved, but interference may occur in subsequent path generation
Solution Approach 1:
The patent performs preliminary interference checks using the greater of the first or second clearance amounts before finalizing the path generation. By determining whether the robot and obstacle interfere with each other in the second posture based on the greater clearance amount in advance, the system prevents interference issues from arising in subsequent path generation, ensuring both route optimization and reliability.
Solution Approach 2:
The patent uses feedback from interference determination results to adjust and validate the clearance amounts. By checking for interference based on the greater of the two clearance amounts and using this information to confirm path validity, the system ensures that the optimized route does not result in interference, thereby maintaining reliability while achieving route optimization.
Data Source
AI summary
Disclosed is an information processing apparatus including a hardware processor that: acquires each of information on a robot and information on an obstacle; sets a first clearance amount in a section in which the robot changes from a first posture to a second posture and a second clearance amount in a section in which the robot changes from the second posture to a third posture; and when determining, based on the acquired information and a set clearance amount, whether the robot and the obstacle interfere with each other in the second posture, performs determination based on a greater one of the first clearance amount and the second clearance amount.