Robot Process Graph Planning With Swept-Volume Constraints
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Solution Overview
Problem
Manual programming of robotic movements in industrial settings is tedious, time-consuming, and error-prone, and results in schedules that are often incompatible across different workcells due to varying physical constraints, making it difficult to predict task completion times effectively.
Innovation Solution
A system generates a schedule for robots using an underconstrained process definition graph, adding constraints for task volumes to create motion plans that avoid occupied areas, allowing for the generation of a fully constrained schedule for an arbitrary number of robots, reducing manual programming requirements and improving computational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If manual programming is used to dictate robotic movements, then the schedule can be customized for specific workcells, but the process becomes tedious, time-consuming, and error-prone
Solution Approach 1:
The system enables self-service by allowing the robotic system to automatically generate its own motion schedules and collision avoidance plans without manual programming. The process definition graph and automated planning algorithms allow the system to autonomously determine optimal robot movements and timing, eliminating the need for tedious manual schedule creation while maintaining workcell-specific customization.
2Adaptability or versatility
If manual programming is used for one workcell, then the schedule can be optimized for that specific environment, but it cannot be easily applied to other workcells with different physical properties
Solution Approach 1:
The system achieves universality through the process definition graph framework, which provides a standardized representation of robotic tasks and environments that can be applied across different workcells. By defining tasks, robots, and constraints in a unified graph structure, the same scheduling and planning algorithms can be reused for any workcell configuration, enabling schedule portability while adapting to specific physical properties through automated parameter adjustment.
3Reliability
If traditional scheduling methods are used, then the schedule can be created without considering swept volumes, but conflicts between robot movements and task volumes cannot be avoided
Solution Approach 1:
The system applies preliminary action by pre-calculating swept volumes for each robot movement and identifying potential collisions before executing the motion schedule. The process definition graph incorporates volume constraints and collision detection algorithms that proactively plan avoidance paths, ensuring reliable conflict-free operation while managing planning complexity through systematic preprocessing of spatial information.
4Reliability
If comprehensive motion planning with volume constraints is implemented, then collision avoidance is improved, but the computational complexity and time for generating schedules increases
Solution Approach 1:
The system applies segmentation by dividing the complex motion planning problem into manageable components within the process definition graph: individual task nodes, robot-specific motion plans, and discrete volume constraints. This modular approach allows the system to process each element separately and combine results efficiently, maintaining high schedule accuracy through comprehensive constraint satisfaction while reducing overall computational time through parallel processing of segmented planning tasks.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot planning using a process definition graph. The techniques can include receiving a process definition graph having a plurality of task nodes that represent respective tasks to be performed by a respective robot of a plurality of robots, wherein each task node is associated with a location at which the task will be performed; generating, from the process definition graph, an initial modified process definition graph that adds constraints for respective swept volumes occupied by each task represented by the plurality of task nodes; and generating, from the initial modified process definition graph, a refined process definition graph, wherein the refined process definition graph includes respective motion plans for robots moving between tasks, wherein the motion plans define transitions that avoid the swept volumes occupied by each task represented by the plurality of task nodes.