Robot Tool Trajectory Planning Across Dual Configuration Spaces
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Solution Overview
Problem
Existing methods for determining the movement of devices, such as robots, often require stopping at transitions between different movement trajectories planned in different configuration spaces, leading to inefficiencies and potential collisions, as they are typically planned and optimized within a single configuration space.
Innovation Solution
A computer-aided method that determines movement trajectories in multiple configuration spaces, optimizing parameters like time and collision avoidance, allowing for smooth transitions and efficient linking of partial movements by transforming trajectories between spaces to ensure compliance with predefined boundary conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If movement trajectories are planned in a single configuration space, then the planning process is simple, but the device must stop at transitions between trajectories leading to loss of time and reduced productivity
Solution Approach 1:
The patent applies dimensionality change by planning movement trajectories in two different configuration spaces (Cartesian space and joint space) rather than a single space. This allows the system to optimize different aspects of movement in each space and seamlessly connect trajectories without stopping, thereby improving productivity while managing planning complexity through structured multi-space approach
Solution Approach 2:
The movement planning is segmented into different configuration spaces (Cartesian space for position/orientation planning and joint space for actuator coordination). Each space handles specific aspects of movement independently, allowing parallel optimization and smooth transitions without requiring the device to stop at trajectory boundaries, thus enhancing productivity
2Productivity
If movement trajectories are optimized for speed, then productivity increases, but collision risk increases
Solution Approach 1:
The patent introduces an intermediary collision checking process that operates between trajectory generation and execution. By checking for collisions in both Cartesian and joint configuration spaces before finalizing trajectories, the system can identify and correct potential collision paths while maintaining optimized movement speeds, thus ensuring reliability without sacrificing productivity
Solution Approach 2:
The system performs preliminary collision checking in both configuration spaces before executing the movement trajectories. This advance verification allows the system to pre-correct any collision-prone paths while maintaining the optimized speed profiles, ensuring that high-speed movement does not compromise collision avoidance
3Productivity
If trajectories are planned in multiple configuration spaces, then movement continuity improves, but computational complexity increases
Solution Approach 1:
The patent utilizes dimensionality change by working in two complementary configuration spaces (Cartesian and joint spaces) simultaneously. Each space provides different advantages for trajectory optimization, and by coordinating planning in both spaces, the system achieves continuous movement without stopping. The structured approach manages computational complexity through efficient coordinate transformations and selective optimization in each space
Solution Approach 2:
The patent merges trajectory planning from both Cartesian and joint configuration spaces into a unified movement execution. By combining the strengths of both planning approaches and coordinating them through transformation matrices, the system achieves continuous smooth trajectories without the need to stop at transition points, improving productivity while managing computational load through integrated planning
4Manufacturing precision
If boundary conditions are strictly enforced, then manufacturing precision is maintained, but movement flexibility is reduced
Solution Approach 1:
The patent applies parameter changes by transforming trajectories between different configuration spaces (Cartesian and joint spaces), where boundary conditions are enforced in one space while allowing flexibility in parameter optimization in the other space. This enables the system to maintain strict process tolerance compliance in the Cartesian space while achieving flexible optimization of joint movements and timing, thus balancing precision requirements with movement adaptability
Data Source
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AI summary
A computer-aided method for determining the motion of a device that includes a tool movable via translational and/or rotational axes of the device comprises the following steps: A first motion trajectory of the tool is determined in a first configuration space. During the determination of the first motion trajectory, a predefined parameter of the tool's motion is optimized. It is checked whether the first motion trajectory satisfies at least one predefined first boundary condition. A second motion trajectory of the tool in a second configuration space is determined by transforming the first motion trajectory into the second configuration space, provided the first motion trajectory satisfies the predefined first boundary condition. It is then checked whether the second motion trajectory satisfies at least one predefined second boundary condition.The first motion trajectory and/or the second motion trajectory are provided to move the tool if the second motion trajectory satisfies the specified second boundary condition.