Synchronized Robot Movement Planning via Virtual Poses
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Solution Overview
Problem
Existing methods for specifying synchronized robot movements are inflexible and time-consuming, requiring a strict bijective assignment of poses between robots, which limits optimization and introduces errors due to the need for dummy poses to avoid collisions.
Innovation Solution
A computer program and method that allows for the flexible specification of synchronized robot movements by enabling optional non-synchronized poses between synchronized pairs, using global movement planning with spline functions to optimize robot axis arrangements without the need for progressive, section-by-section synchronization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a strict bijective 1:1 assignment of poses is used for synchronized robot movements, then synchronization between robots is achieved, but flexibility and optimization possibilities are restricted
Solution Approach 1:
The patent segments the pose assignment relationship by introducing virtual poses as intermediaries. Instead of requiring direct 1:1 mapping between robot poses, the system divides the synchronization task into multiple layers: real poses of first robot, virtual poses as transition elements, and real poses of second robot. This segmentation allows flexible insertion of additional poses without breaking the synchronization framework.
Solution Approach 2:
Virtual poses serve as intermediary elements between the pose sequences of two robots. These virtual poses act as mediators that decouple the strict 1:1 correspondence requirement, allowing one robot to have additional poses (for collision avoidance or optimization) while maintaining synchronization at key points through the virtual pose framework.
2Object-affected harmful factors
If dummy poses are specified for collision avoidance, then collision risks are reduced, but programming time increases and errors are introduced
Solution Approach 1:
The system allows the controller to automatically manage virtual poses and synchronization timing without requiring manual specification of corresponding poses for every movement detail. The controller self-adjusts the synchronization based on the programmed poses and robot speeds, reducing programming complexity and time while maintaining collision avoidance capabilities.
3Reliability
If the slower robot determines the travel time for synchronization, then synchronized poses are achieved, but the faster robot cannot utilize its maximum speed or acceleration
Solution Approach 1:
The patent introduces dynamic virtual poses that can be adjusted based on robot capabilities and task requirements. The controller dynamically determines timing and positioning of virtual poses, allowing the faster robot to optimize its speed profile while still achieving synchronization at critical points. This dynamic approach replaces static speed matching with flexible temporal coordination.
Data Source
Figure 1A~2
AI summary
The programming structure has first pair of pose portion (q1-0,q1-4) which sets movement of a robot wheel arrangement. Second pair of pose portion (q2-0,q2-5,q3-0,q3-3) is provided to synchronize the movement of the robot wheel arrangement, and maintain the synchronization between third pair of pose portion (q1-2,q2-2,q2-4) to pretend that is not synchronized with another pose. An independent claim is included for a method for setting movement of the robot wheel arrangement.