Robot Trajectory Planning With Dynamic Velocity Adjustment

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Solution Overview

Problem

Trajectory planning for path-based applications in robotics is traditionally manual, time-consuming, error-prone, and requires extensive expertise, making it difficult to adjust trajectories for variations in workpieces or their poses, and often necessitates the use of fixtures to maintain workpieces, which complicates the process and slows it down.

Innovation Solution

A system that generates a Cartesian path with no notion of velocity, combined with an adjusted velocity profile based on dynamic robot properties, to automatically create a trajectory that can adapt to different process parameters and dynamic limits, allowing for smooth and precise robot motion without the need for fixtures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If manual programming is used to generate trajectories, then trajectories can be generated for path-based applications, but the process is tedious, time-consuming, and error-prone

Engineering Contradiction:

Improvetrajectory generation speedVSAvoidtime for manual programming

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The patent replaces manual mechanical programming with an automated computer-based system that generates trajectories through simulation and optimization algorithms. The system automatically computes control points and robot controller parameters by simulating robot motion and optimizing paths, eliminating the need for manual programming while improving accuracy and reducing time consumption.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system performs self-optimization by automatically adjusting trajectories based on simulated robot dynamics and constraints. The planning system generates and refines trajectories autonomously without human intervention, using iterative simulation to improve path quality and reduce programming time.

Inventive Principle:

Principle #25Self-service

2Reliability

If manual programming is used to set control points and parameters, then trajectories can be generated, but the solutions are brittle and require fixtures to hold workpieces

Engineering Contradiction:

Improvetrajectory robustnessVSAvoidfixture requirements

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent introduces dynamic adaptation by simulating robot motion and adjusting trajectories in real-time based on actual robot behavior and workpiece variations. The system uses dynamic simulation to predict and compensate for disturbances, making the trajectory solution robust without requiring rigid fixtures to hold workpieces in place.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system incorporates feedback mechanisms through simulation, where trajectory performance is evaluated and refined iteratively. The planning system uses simulation feedback to adjust control points and parameters, creating more robust trajectories that can handle variations in workpiece positioning without requiring additional fixtures.

Inventive Principle:

Principle #23Feedback

3Manufacturing precision

If a large number of control points and robot controller parameters are used, then trajectory accuracy can be improved, but the search space becomes too large for cloud-based offline planning systems

Engineering Contradiction:

Improvetrajectory accuracyVSAvoidsearch space size

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The patent segments the trajectory generation process into distinct phases: initial path planning, simulation-based optimization, and parameter tuning. By dividing the complex search space into manageable segments and processing them sequentially through simulation, the system achieves high trajectory accuracy without overwhelming computational resources.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system performs preliminary simulation and optimization before final trajectory execution. By pre-computing control points and parameters through simulation, the system reduces the online search space and ensures high accuracy without requiring exhaustive search during actual operation.

Inventive Principle:

Principle #10Preliminary action

4Adaptability or versatility

If manually generated trajectories are used, then trajectories can be created for specific goal paths, but they cannot be adjusted to variants of the goal path, workpiece, or pose

Engineering Contradiction:

Improvetrajectory adaptabilityVSAvoidprogramming difficulty

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The patent creates a universal trajectory planning system that can handle multiple goal paths, workpiece variants, and pose variations through a single automated framework. The simulation-based approach generates adaptable trajectories that work across different scenarios without requiring separate manual programming for each case, improving versatility while maintaining ease of use.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS11325256B2Trajectory planning for path-based applications

Publication Date: 2022.05.10 INTRINSIC INNOVATION LLC

AI summary

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.