Robot Route Planning Using Virtual Areas for Collision-Free Attitudes
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Solution Overview
Problem
Existing methods for generating robot movement routes do not effectively prevent collisions by maintaining a safe distance from obstacles and can result in poor operability due to inappropriate attitude selection.
Innovation Solution
A method that involves disposing virtual areas near the robot based on various attitudes, determining interference between the robot and these virtual areas, and the surrounding environment, and generating a movement route that evaluates attitudes to avoid interference, prioritizing those with no interference with the virtual area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If evaluation functions based on axis positions and margin distance are used, then position and attitude are optimized, but attitudes that cannot be achieved by the robot may be selected
Solution Approach 1:
The patent implements feedback by evaluating whether each selected attitude is actually achievable by the robot's mechanical constraints. The system checks the feasibility of each attitude and adjusts the evaluation accordingly, preventing selection of impossible configurations that would compromise operational reliability.
Solution Approach 2:
The patent modifies the evaluation function to incorporate robot-specific parameters such as achievable attitude ranges and mechanical constraints. By changing the evaluation criteria to reflect actual robot capabilities, the system optimizes movement routes while ensuring selected attitudes are feasible.
2Reliability
If margin distance is maximized, then safety distance from obstacles is improved, but movement route operability deteriorates
Solution Approach 1:
The patent applies local quality by creating no-entry areas with different characteristics for different robot parts. Each part has its own optimized no-entry area that balances safety margin requirements with operational needs, rather than applying a uniform margin that would compromise overall operability.
Data Source
AI summary
A method for generating a movement route of a robot having a plurality of motion axes includes the steps of disposing a virtual area near the robot in accordance with each of a plurality of attitudes at an operation position of the robot, determining interference between the robot and the virtual area and between the robot and a surrounding environment, and generating the movement route of the robot while evaluating each of the plurality of attitudes on a basis of a result of the step of determining. In the step of generating, an attitude with which no interference with the virtual area is caused is highly evaluated.