Robot Tool Trajectory Planning Across Configuration Spaces
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Solution Overview
Problem
Existing methods for planning the movement of apparatuses, such as robots, often require stopping at transitions between different configuration spaces due to partial movements being planned in separate spaces, leading to inefficient and non-fluid transitions.
Innovation Solution
A computer-assisted method that plans movements in both configuration spaces simultaneously, optimizing movement trajectories to ensure collision-free and process-tolerant paths, allowing for fluid transitions by transforming trajectories between spaces using spline interpolation and coordinate transformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If movements are planned in separate configuration spaces, then collision-free paths can be ensured, but stopping is required at transitions between spaces
Solution Approach 1:
The patent merges multiple configuration spaces into a unified configuration space that encompasses all possible states of the apparatus. This unified space allows trajectory optimization to consider collision constraints from all spaces simultaneously, eliminating the need to stop at transitions between separate spaces while still ensuring collision-free movement throughout the entire configuration space.
2Ease of operation
If movements are planned in separate configuration spaces, then boundary conditions can be checked individually, but transition fluidity is reduced
Solution Approach 1:
The patent segments the unified configuration space into multiple subspaces corresponding to different operational modes or regions. Boundary conditions are checked within each subspace independently, maintaining the ease of individual verification. However, the segmentation is performed within a unified framework that ensures smooth transitions between subspaces, avoiding the complexity of coordinating multiple separate planning systems.
3Productivity
If trajectories are optimized in one configuration space, then movement efficiency is improved, but adaptability to different spaces is reduced
Solution Approach 1:
The patent employs parameter transformations that map between different configuration spaces and the unified configuration space. By changing the parameter representation (coordinates, basis vectors, or transformation matrices), the system can optimize trajectories in the unified space while maintaining adaptability to represent and operate in various individual configuration spaces. This allows efficient trajectory computation without sacrificing the ability to adapt to different operational contexts.
Data Source
AI summary
Provided is a computer-assisted method for ascertaining a movement of an apparatus, which has a tool that is movable by way of translational and/or rotational axes of movement of the apparatus, includes the following method steps: a first movement trajectory of the tool is ascertained in a first configuration space. A predetermined parameter of a movement of the tool is optimized when ascertaining the first movement trajectory. A check is carried out as to whether the first movement trajectory satisfies at least one predetermined first boundary condition. A second movement trajectory of the tool in a second configuration space is ascertained by transforming the first movement trajectory into the second configuration space if the first movement trajectory satisfies the predetermined first boundary condition. A check is carried out as to whether the second movement trajectory satisfies at least one predetermined second boundary condition.