Robot Tool Motion Control Using Virtual Torque Obstacle Avoidance
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Solution Overview
Problem
Collaborative robots face challenges in developing effective obstacle avoidance strategies, especially when different tools are installed, as existing methods fail to account for varying tool configurations and real-time adjustments in human-robot collaboration.
Innovation Solution
A robot controlling method that uses a depth camera to capture images, process obstacle and tool parameters, and calculate virtual torque vectors to adjust the robot's movement and rotation, allowing for real-time obstacle avoidance planning and tool positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot uses fixed obstacle avoidance strategies, then the control system is simple, but the robot cannot adapt to different tool configurations and workspace conditions
Solution Approach 1:
The patent implements dynamic obstacle avoidance by calculating virtual torque in real-time based on robot pose, tool parameters, and obstacle position. The virtual torque dynamically adjusts the robot's endpoint velocity to achieve collision-free paths, allowing the system to adapt to different tool configurations and workspace conditions without requiring multiple fixed strategies
Solution Approach 2:
The system changes parameters dynamically by computing virtual torque based on varying robot pose, tool length, and obstacle position. The virtual torque magnitude and direction are continuously adjusted according to the current state, enabling the robot to adapt to different tool configurations and obstacle scenarios through parameter variation rather than fixed strategies
2Measurement precision
If the robot calculates virtual torque in real-time based on tool parameters and obstacle position, then the obstacle avoidance is accurate, but the computational complexity increases
Solution Approach 1:
The patent replaces complex mechanical obstacle avoidance mechanisms with a computational approach using virtual torque. Instead of physical sensors and mechanical adjustments, the system uses mathematical calculations of virtual torque based on robot pose, tool parameters, and obstacle position to achieve precise obstacle avoidance through software computation
Solution Approach 2:
The system achieves precise obstacle avoidance by dynamically computing virtual torque parameters based on real-time robot pose, tool configuration, and obstacle position. The virtual torque magnitude and direction are continuously adjusted through parameter changes, providing accurate collision-free paths without requiring complex hardware systems
3Reliability
If the robot endpoint velocity is constrained to avoid obstacles, then collision is prevented, but the robot productivity decreases
Solution Approach 1:
The patent applies partial constraint by using virtual torque to adjust only the endpoint velocity component that would cause collision, rather than completely stopping or significantly reducing overall robot speed. The virtual torque provides just enough velocity adjustment to achieve collision-free paths while maintaining high productivity through minimal speed reduction
Data Source
AI summary
A robot controlling method includes following operations. A depth image is obtained by the depth camera. A processing circuit receives the depth image and obtains an obstacle parameter of an obstacle and a tool parameter of a tool according to the depth image. The tool is set on the end of a robot. The processing circuit obtains a distance vector between the end and the obstacle parameter. The processing circuit obtains a first endpoint vector and a second endpoint vector between the tool parameter and the obstacle parameter. The processing circuit establishes a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector. The processing circuit outputs control signal to the robot according to the tool parameter, the obstacle parameter and the virtual torque to drive the robot to move or rotate the tool to a target.