Robot Trajectory Optimization for Concurrent Manipulator Motion
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Solution Overview
Problem
Existing robot trajectory planning methods result in sequential arm movements that appear unnatural and inefficient, unlike human motion, which can be more time-efficient when both arms move concurrently.
Innovation Solution
A method to optimize trajectory plans by identifying moveable motion segments and shifting them backward in time, allowing concurrent movement of robot manipulators, creating a more human-like and efficient motion plan.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If sequential motion planning is used for multi-manipulator robots, then the trajectory plan is simple to generate and execute, but the motion appears unnatural and execution time is increased
Solution Approach 1:
The system performs preliminary analysis of the trajectory plan to identify moveable motion segments before execution. By pre-determining which segments can be shifted backward in time and which must remain unshifted, the system prepares an optimized execution schedule that enables concurrent manipulator operations while maintaining task constraints
Solution Approach 2:
The trajectory plan is divided into discrete motion segments, each corresponding to a specific manipulator component. This segmentation allows the system to independently analyze and optimize each segment's timing, identifying which segments can be executed concurrently with others to reduce overall task execution time
2Productivity
If sequential arm movement is used, then the control logic is simple, but the motion efficiency is reduced compared to human-like concurrent movement
Solution Approach 1:
The system automatically optimizes the trajectory plan by self-determining which motion segments can be shifted and executed concurrently. The algorithm independently analyzes the task requirements, identifies optimization opportunities, and generates the optimized schedule without requiring manual intervention or complex external control systems
Data Source
AI summary
Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.