Robot Slider Positioning via Interference-Aware Arm Approach
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Solution Overview
Problem
Existing methods for setting the position of a robot slider are inefficient, often requiring repeated processes due to inability to perform inverse transforms or low evaluation values, leading to suboptimal interference region avoidance.
Innovation Solution
A robot slider position setting device that determines the direction of the robot's arm to avoid interference regions by fixing the wrist rotation center and using a tool at the robot's end, then sets the slider position based on this direction, ensuring efficient avoidance of interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the evaluation value is determined using an evaluation function including interference information and operating range information, then the slider position can be set to avoid interference, but the process requires repeated iterations when appropriate positions cannot be found, reducing efficiency
Solution Approach 1:
The patent applies preliminary action by determining the arm approaching direction before setting the slider position. The approaching-direction determination unit pre-calculates valid approach directions that avoid interference regions and satisfy inverse transform conditions, so that when position determination is performed, the search is already constrained to feasible directions, eliminating the need for repeated iterations
Solution Approach 2:
The patent segments the position setting process into two independent stages: (1) approaching-direction determination that identifies valid approach directions avoiding interference, and (2) position determination that selects optimal positions based on the pre-determined directions. This segmentation allows each stage to focus on specific constraints, improving overall efficiency
2Area of stationary object
If all grid points in the search plane are set as welding points, then complete coverage is achieved, but the complexity of determining valid slider positions increases due to multiple constraints
Solution Approach 1:
The approaching-direction determination unit performs preliminary filtering by pre-determining which directions are valid for inverse transformation and avoid interference regions. This preliminary action reduces the complexity of the subsequent position determination step, even when all grid points must be considered
Solution Approach 2:
The patent introduces dynamic constraint application where the search plane is divided into multiple regions, and different constraint levels are applied to different regions based on their proximity to interference zones and inverse transform feasibility, optimizing the balance between coverage and computational complexity
Data Source
AI summary
A robot slider position setting device sets a position of a robot slider that moves while being loaded with a robot that performs predetermined work on a workpiece by using a tool provided at a distal end of the robot. The robot slider position setting device includes an interference-region-information storage unit that stores interference region information indicating an interference region with which the robot interferes in a predetermined ambient environment, an approaching-direction determination unit that determines a direction of an arm of the robot as an arm approaching direction such that the direction does not overlap the interference region by fixing a wrist rotation center of the robot in a state where the tool is in an orientation according to a predetermined working position, and a position determination unit that determines the position of the robot slider based on the arm approaching direction determined by the approaching-direction determination unit.