Robot Arm Return Path Search Using Decimated Motion Logs
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Solution Overview
Problem
Current methods for returning a robot arm to its origin position and posture after an emergency stop require significant manual effort and time, especially when environmental changes or unrecognizable CAD data are involved, increasing operational preparation time.
Innovation Solution
A control device and method that perform decimation and integration processing on operation log data to reduce the amount of data used for return path searching, allowing for a simpler and faster path determination by deleting data between straight portions and integrating adjacent nodes with minimal displacement, and interpolating data between nodes for accurate path tracing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the limited return method is used with area maps and blocks, then the robot can return to origin position, but the amount of work for operators increases due to manual registration of areas and return directions
Solution Approach 1:
The patent uses operation log data as a copy of the actual robot trajectory to automatically reconstruct the return path. Instead of manually registering area maps and return directions, the system copies the historical operation data and processes it to generate the return path automatically, eliminating manual work while maintaining accuracy
Solution Approach 2:
The system performs self-service by automatically processing operation log data to generate return paths without operator intervention. The decimation and integration processing are executed autonomously by the control device, allowing the robot to determine its own return path based on recorded data, thereby reducing operator workload and preparation time
2Measurement precision
If all operation log data is used for return path searching, then accurate path can be determined, but the time required for searching increases
Solution Approach 1:
The patent extracts only the essential data points needed for path determination by removing redundant information. The decimation processing extracts key positions from continuous operation logs, and the integration processing merges adjacent nodes with minimal displacement, keeping only the necessary data for accurate return path calculation while discarding unnecessary details
Solution Approach 2:
The operation log data is segmented into meaningful units through decimation processing, which divides the continuous trajectory into discrete key points. By segmenting the data at appropriate intervals (removing intermediate points on straight portions), the system maintains path accuracy while working with a manageable, reduced data set that speeds up processing
Data Source
AI summary
In a robot controller, return of a position (including posture) of a robot arm to an origin thereof is controlled along a searched return path, when there occurs an abnormality against the robot. It is determined whether there is a trajectory portion regarded as being a straight line on a motion trajectory of the arm, based on the operation log data recorded in a recording unit when it is determined that the arm should be returned to the origin. Operation log data of a node are decimated (i.e., downsampled), which are present between two nodes which are at both ends of a trajectory portion regarded as being a straight line when the trajectory portion is regarded as being the straight line. Then, the return path is calculated, along which the arm returns to the origin, based on remaining operation log data.