Robot Trajectory Speed Override Using Phase-Parameterized Motion
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Solution Overview
Problem
Existing robotic systems face challenges in efficiently adjusting motion along a trajectory to allow for detailed inspection of specific segments while maintaining overall efficiency and accuracy, as conventional methods often result in violations of physical limits and inaccuracies.
Innovation Solution
The system employs phase-parameterization to generate a trajectory with a phase variable, allowing for real-time adjustment of motion parameters such as velocity and acceleration, ensuring compliance with physical limits and enabling targeted slow-downs or pauses at specific segments without affecting the entire trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional speed adjustment methods are used to allow detailed inspection of specific trajectory segments, then inspection capability is improved, but physical limits are violated and motion accuracy deteriorates
Solution Approach 1:
The patent applies parameter changes by introducing a speed override factor that modifies the phase parameterization of the trajectory. This allows dynamic adjustment of motion parameters (velocity, acceleration) along different trajectory segments while maintaining compliance with physical limits. The phase-parameterized trajectory representation enables independent control of timing parameters without affecting spatial accuracy, resolving the contradiction between inspection capability and motion accuracy.
2Measurement precision
If the robot slows down motion for inspection of a segment, then inspection accuracy is improved, but overall trajectory execution time increases
Solution Approach 1:
The patent segments the trajectory into multiple portions and applies different speed override factors to each segment. This allows the robot to slow down only for specific segments requiring inspection while maintaining normal speed for other segments. The phase-parameterized representation enables this selective speed adjustment without requiring global trajectory rescaling, thus improving inspection accuracy for critical segments while minimizing overall execution time.
3Reliability
If conventional methods adjust speed for entire trajectory, then motion constraints are satisfied, but efficiency is reduced due to unnecessary slowing down of non-critical segments
Solution Approach 1:
The patent applies local quality by allowing different speed override factors for different segments of the trajectory. Each segment can have its own speed adjustment characteristics tailored to inspection requirements. This localized control approach maintains motion constraint compliance in all segments while avoiding unnecessary slowing down in non-critical segments, thereby improving overall execution efficiency compared to global speed adjustment methods.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for overriding an original motion of a robot along a trajectory. The method includes initiating, by a real-time robotics control system, execution of an input trajectory for a robot at a default speed, wherein the input trajectory is a time-parameterized trajectory and specifies a path in an operating environment; before completing execution of the input trajectory, receiving a user input specifying a value of an online speed override factor; in response, generating a phase-parameterized version of the input trajectory using a phase variable; computing, on each real-time control cycle, a target velocity and a target acceleration of the phase-parameterized version of the input trajectory based on the online speed override factor; and causing the robot to transition to the target velocity and the target acceleration while traversing the path in the operating environment.