Robot Holding Posture Selection for Collision-Resistant Path Planning
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Solution Overview
Problem
Existing techniques for generating movement paths for robot arms or hands are prone to inaccuracies due to errors in modeling and measurement, leading to potential collisions with surrounding objects.
Innovation Solution
A robot system that includes an imager to capture the workpiece's position, a controller to generate and evaluate holding posture candidates based on interference difficulty with surrounding objects, and a movement path generator to select postures that minimize interference, ensuring accurate path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a movement path is generated based on pre-stored gripping postures and three-dimensional measurement data, then the movement path generation is efficient, but the accuracy of collision avoidance is reduced due to modeling and measurement errors
Solution Approach 1:
The system performs preliminary action by generating multiple candidate movement paths before execution, evaluating each candidate for potential interference with surrounding objects. This allows the selection of the safest path while maintaining efficiency through pre-computed candidate generation based on stored posture data.
Solution Approach 2:
The system introduces feedback by evaluating candidate movement paths using an interference determination unit that checks for collisions with surrounding objects. This feedback mechanism refines the selection process, ensuring that the chosen path avoids collisions despite initial modeling and measurement errors.
2Productivity
If the robot arm or hand is moved along a generated movement path, then the operation is efficient, but interference with surrounding objects may occur due to modeling and measurement errors
Solution Approach 1:
The system applies preliminary anti-action by proactively identifying and avoiding potential interference issues before they occur. The interference determination unit evaluates candidate paths in advance, selecting paths that preemptively avoid surrounding objects, thus preventing harmful interference while maintaining operational efficiency.
Solution Approach 2:
The system performs preliminary action by pre-evaluating multiple candidate movement paths for potential interference before execution. This allows the selection of a safe path that avoids surrounding objects, preventing harmful effects while maintaining efficient operation through pre-computed safe trajectories.
3Reliability
If multiple holding posture candidates are evaluated based on interference difficulty, then the accuracy of collision prevention is improved, but the computation time increases
Solution Approach 1:
The system applies partial action by evaluating multiple candidate postures beyond the single optimal posture. By generating and evaluating a limited set of candidate postures (not all possible postures), the system achieves improved collision prevention accuracy while controlling computation time through selective evaluation of the most promising candidates.
Solution Approach 2:
The system performs preliminary action by pre-generating multiple candidate holding postures and evaluating them for interference potential before final selection. This preliminary evaluation of multiple candidates enables accurate collision prevention while managing computation time through efficient candidate generation and selective assessment.
Data Source
AI summary
A robot system includes a control device configured or programmed to evaluate a plurality of generated holding posture candidates based on an index including difficulty of interference of at least one of a robot arm or a hand with a surrounding object at a time at which a workpiece is held and generate a movement path.