Robot Target Position Selection Using Predicted Trajectory Similarity
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Solution Overview
Problem
Conventional robot systems face challenges in accurately positioning robots relative to objects in their operating environment, leading to delays and discrepancies between operator actions and robot motions, which hinder operability.
Innovation Solution
A control device that determines a target position for a robot based on the shape and form of objects in its environment, estimates a predicted trajectory, and selects a target position based on the similarity between this trajectory and an approach trajectory, ensuring the robot moves to a position that aligns with the operator's intention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot is brought close to the object as the operation target, then the operability is improved, but the positioning accuracy relative to the object is insufficient
Solution Approach 1:
The system performs preliminary actions by estimating the operator's intended trajectory before the robot actually moves. The trajectory estimation part predicts where the operator wants to go based on current motion, and the target position selector pre-selects the most appropriate target position from multiple candidates based on this predicted trajectory. This allows the robot to be positioned accurately relative to the object before the operator completes their motion, resolving the contradiction between ease of operation and positioning accuracy.
2Speed
If the robot responds to operator actions in real-time, then the responsiveness is improved, but delays and discrepancies occur between operator actions and robot motions
Solution Approach 1:
The system performs preliminary trajectory estimation and target position selection based on the operator's current motion state. By predicting the intended trajectory before the operator completes their action, the system can prepare the robot's response in advance. This reduces the actual response delay and ensures the robot's motion aligns with the operator's intention, improving both responsiveness and action consistency.
Solution Approach 2:
The system continuously monitors the operator's motion state and uses this feedback to update the trajectory estimation and target position selection. The trajectory estimation part uses the operator's current motion as input to predict the intended trajectory, and this feedback loop ensures the robot's response remains consistent with the operator's actual actions, resolving the discrepancy issue.
3Measurement precision
If multiple target positions are considered, then the positioning accuracy is improved, but the selection complexity increases
Solution Approach 1:
The system uses feedback from the predicted trajectory to automatically select the most appropriate target position from multiple candidates. The target position selector compares the predicted trajectory with trajectories to various candidate positions and selects the one with the highest similarity. This automated feedback-based selection process maintains high positioning accuracy while avoiding the need for complex manual selection mechanisms.
Data Source
AI summary
A control device includes a target position setting part, a trajectory estimation part, and a target position selector. The target position setting part determines a target position of an actor of a robot based on a form of an object located in an operating environment of the robot. The trajectory estimation part estimates a predicted trajectory of the actor based on motion of the actor up to the present, and estimates a trajectory of the actor from a current position to the target position as an approach trajectory using a predetermined function. The target position selector selects one target position based on a degree of similarity between the predicted trajectory and each of the approach trajectory.