Robot Manipulation via Shape Approximation
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Solution Overview
Problem
Existing robot systems require extensive registration of manipulation methods for each article shape, making it inefficient to handle multiple types of articles with different shapes, as they need pre-defined information on the article's shape and grasping position for operation.
Innovation Solution
A robot system that includes a shape measurement unit, a basic operation storage unit, an operation method calculation unit, and a control unit, which deforms stored basic operations and manipulation methods based on measured article shapes to adapt to various article shapes, allowing flexible manipulation without extensive pre-registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manipulation methods are registered in advance for each article shape, then the robot can accurately manipulate articles, but the system complexity and registration time increase significantly when handling multiple article types
Solution Approach 1:
The patent creates a universal manipulation method that can handle multiple article shapes through shape approximation. Instead of registering specific manipulation methods for each article type, the system uses a single base manipulation method that adapts to different shapes by approximating them with geometric primitives (cubes, cylinders, spheres). This universal approach eliminates the need for extensive per-article registration while maintaining manipulation accuracy.
Solution Approach 2:
The system changes the parameters of the base manipulation method based on the measured shape characteristics. By extracting geometric parameters (size, shape type, orientation) from the measured article and adjusting the manipulation parameters accordingly, the system adapts a single base method to handle various article shapes without requiring separate registration for each type.
2Reliability
If manipulation methods are registered in advance for each article shape, then the robot can accurately manipulate articles, but the time required to register information increases
Solution Approach 1:
The patent creates a universal manipulation method that can handle multiple article shapes through shape approximation. Instead of registering specific manipulation methods for each article type, the system uses a single base manipulation method that adapts to different shapes by approximating them with geometric primitives (cubes, cylinders, spheres). This universal approach eliminates the need for extensive per-article registration while maintaining manipulation accuracy.
Solution Approach 2:
The system performs preliminary shape measurement and approximation to determine the article geometry before execution. By pre-calculating the shape parameters and selecting the appropriate geometric primitive approximation in advance, the system prepares the manipulation parameters beforehand, reducing the time required during actual manipulation while ensuring accuracy.
3Reliability
If extensive information on article shape and grasping position is pre-defined, then the robot can manipulate articles accurately, but the system requires more pre-registration work
Solution Approach 1:
The system performs self-service by automatically measuring the article shape and approximating it with geometric primitives without requiring manual registration of manipulation methods. The shape measurement unit captures the article geometry, and the control unit automatically determines the appropriate base manipulation method and adjusts parameters based on the measured shape, eliminating the need for operators to manually register information for each article type.
Solution Approach 2:
The patent replaces the manual registration process with an automated measurement and approximation system. Instead of mechanically registering manipulation parameters for each article, the system uses shape measurement devices to capture geometry and substitutes manual configuration with automatic parameter determination based on geometric approximation, significantly reducing the ease of operation burden.
Data Source
AI summary
A robot system is provided in which various kinds of articles can be treated only with a small number of articles registered in advance, and an unknown article can be further treated as long as the article has a shape close to that of the article registered in advance. A robot system is disclosed which includes: a mechanism unit that manipulates an article to be manipulated; a shape measurement unit that measures a shape of an object; a basic operation storage unit that stores basic operation representing basic operation of the mechanism unit; an operation method calculation unit that deforms the stored basic operation to calculate an operation method on the basis of the shape of the object measured by the shape measurement unit; and a control unit that executes a control of the mechanism unit on the basis of the operation method calculated by the operation method calculation unit.