Robot Control Sequence for Scan-and-Regrip Object Handling
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Solution Overview
Problem
Robotic systems lack the sophistication to execute complex tasks with the granularity and flexibility required, leading to insufficient automation and storage efficiency, particularly in handling and interacting with operation objects.
Innovation Solution
A control method for a robotic system that includes deriving an approach location and a scan location for an end effector to grip and scan operation objects, creating a control sequence for gripping, scanning, temporarily releasing, and shifting objects based on predetermined conditions such as storage efficiency, and calculating storage efficiency before and after shifting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot executes complex tasks with multiple actions and interactions, then task sophistication and automation level improve, but control sequence complexity and system complexity increase
Solution Approach 1:
The control sequence is segmented into discrete actionable items, where each item represents a specific robot action or interaction. This segmentation allows complex tasks to be broken down into manageable units that can be independently controlled and monitored, reducing the perceived complexity of the overall control system while maintaining high automation levels.
Solution Approach 2:
The control sequence is designed to be dynamic and adaptable, allowing actions and interactions to be modified based on real-time conditions. The system can adjust the control sequence during execution, enabling sophisticated task handling without requiring overly complex pre-programmed sequences, thus balancing automation with manageable control complexity.
2Adaptability or versatility
If the robot manipulates operation objects with multiple actions, then task execution capability improves, but the difficulty of detecting and measuring object states increases
Solution Approach 1:
The system incorporates feedback mechanisms that continuously monitor the state of operation objects during manipulation. Sensors and detection devices provide real-time information about object position, orientation, and status, enabling the robot to adjust its actions accordingly. This feedback loop simplifies the detection and measurement of complex object states by breaking them down into measurable parameters.
Solution Approach 2:
The detection system is designed with multi-functional capabilities that can identify various object states using unified detection methods. Rather than requiring specialized detection mechanisms for each type of object or state, the system employs universal sensors and algorithms that can handle diverse manipulation tasks, reducing the overall difficulty of state detection.
3Quantity of substance
If the robot optimizes storage efficiency by shifting objects, then storage density improves, but the time required for task execution increases
Solution Approach 1:
The system performs preliminary calculations and planning to determine optimal object placement before actual manipulation occurs. By pre-computing the most efficient storage configuration and the sequence of shifts required to achieve it, the robot minimizes unnecessary movements and reduces the time penalty associated with optimizing storage efficiency.
Solution Approach 2:
The system dynamically adjusts manipulation parameters such as gripper force, movement speed, and shift sequence based on the specific characteristics of the objects and the desired storage configuration. By optimizing these parameters in real-time, the system achieves high storage density while minimizing the time required for object manipulation and placement.
Data Source
AI summary
The present disclosure provides a control method of a robotic system. The control method includes: deriving an approach location at which the end effector grips an operation object; deriving a scan location for scanning an identifier of the operation object; and based on the approach location and the scan location, creating or deriving a control sequence to instruct the robot to execute the control sequence. The control sequence includes (1) gripping the operation object from a start location; (2) scanning an identifier of the operation object with a scanner located between the start location and a task location; (3) temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied; and (4) moving the operation object to the task location.