Robot Route Generation With Waypoint Validation and Failure Feedback
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Solution Overview
Problem
Existing techniques fail to efficiently generate a route for robots with multiple rotatable parts due to interference, inverse kinematics issues, and singular points, requiring time-consuming trial and error to resolve generation failures.
Innovation Solution
A route generation device and method that registers waypoints, determines their allowability, generates and conditions routes, and displays determination results to identify generation failures, using units to handle inverse kinematics, interference, and singular points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a route search algorithm such as RRT is used to calculate evaluation values for robot arrangements, then it is possible to adopt arrangements with good evaluation values, but the process requires time-consuming trial and error to resolve generation failures caused by interference, inverse kinematics issues, and singular points
Solution Approach 1:
The system performs preliminary validation of waypoints before attempting full route generation. The waypoint validation unit checks whether candidate waypoints are valid (avoiding singular points and interference zones) before the route search algorithm is executed, preventing wasted computation on invalid configurations and reducing trial-and-error time
Solution Approach 2:
The system implements feedback mechanisms where determination results from waypoint validation and route condition checking are used to guide subsequent route generation attempts. Invalid waypoints are identified and excluded from future searches, while valid ones are prioritized, creating a learning loop that reduces repeated failures
2Ease of operation
If multiple waypoints are registered and routes are generated connecting them, then complete robot operation paths can be established, but generation failures occur due to interference between robot parts, inverse kinematics calculation failures, and singular points
Solution Approach 1:
The waypoint registration unit pre-validates candidate waypoints by checking for interference with stationary objects, self-interference between robot parts, and proximity to singular points before they are added to the route. This preliminary filtering prevents subsequent route generation failures
Solution Approach 2:
The invention introduces intermediate validation layers between waypoint registration and route generation. The waypoint validation unit acts as an intermediary that filters invalid waypoints, and the route condition determination unit serves as another intermediary that checks route feasibility, preventing propagation of errors to the final route
3Reliability
If the system determines whether registered waypoints are allowable as robot postures and checks route conditions, then operable routes can be ensured, but the complexity of determining interference, inverse kinematics, and singular points increases
Solution Approach 1:
The determination system is segmented into specialized functional units: a waypoint validation unit for checking individual waypoint validity (interference, singular points), a route condition determination unit for checking path feasibility, and an inverse kinematics calculation unit. Each unit handles a specific aspect of validation, making the overall complex system manageable and modular
Solution Approach 2:
The determination system is designed to handle multiple types of validations through a unified framework. The same determination infrastructure checks for interference with stationary objects, self-interference between robot parts, inverse kinematics solvability, and singular point proximity, reducing overall system complexity through consolidation
4Ease of operation
If the system repeats adding waypoints and generating routes until the route reaches the end point, then complete paths can be formed, but the time consumption increases due to multiple iterations
Solution Approach 1:
Before entering the iterative route generation loop, the system pre-validates all candidate waypoints and pre-calculates feasible paths where possible. This preliminary preparation reduces the number of iterations needed in the main loop, as invalid configurations are excluded beforehand
Solution Approach 2:
The system performs partial validation of potential routes before committing to full generation. By checking waypoint validity and basic route conditions in advance, the system avoids wasting time generating complete routes that would later be found invalid, performing just enough action upfront to filter obvious failures
Data Source
AI summary
A route is generated for a robot with multiple parts connected rotatably. Multiple waypoints indicating a posture of the robot are registered. It is determined whether a registration waypoint is allowable as the posture of the robot. The route is generated to connect an added waypoint and an existing waypoint. It is determined whether the route satisfies the condition that the robot is operable. The adding of the waypoint and the generating of the route are repeated until the route reaches the end point. Determination results of the registration waypoint and the generated route and the condition determined not to be satisfied are displayed.