Robot Trajectory Programming via High-Level Task Transformations
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Solution Overview
Problem
Conventional robot programming is laborious and requires significant rework when changes occur in the work environment or task, as users must re-implement entire tasks, which is time-consuming and costly, especially for non-expert users without programming skills.
Innovation Solution
A method and system that allows users to provide high-level descriptions of modifications to existing robot trajectories, using a translator to convert these into applicable transformations, which are then applied by a transformer to update the robot's trajectory without requiring reprogramming, enabling non-expert users to modify robot tasks intuitively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robot programming methods are used, then the robot can execute tasks with high precision, but any change in work environment or task requires complete re-implementation, resulting in significant time loss
Solution Approach 1:
The system pre-defines common task modifications as reusable templates (e.g., move object from position A to B, change gripper orientation). When an environmental change occurs, the system automatically selects and applies the appropriate pre-defined template rather than requiring complete re-programming, thus resolving the contradiction between adaptability and time loss
Solution Approach 2:
Instead of re-implementing entire trajectories, the system modifies specific parameters of existing robot programs (positions, orientations, speeds) based on the detected environmental changes. This selective parameter adjustment maintains adaptability while minimizing the time required for modifications
2Ease of operation
If expert engineers use specialized programming software to modify robot tasks, then the precision and correctness of task implementation is maintained, but the complexity and cost of programming increases significantly
Solution Approach 1:
The system introduces an intermediary layer between the user and the robot controller. This intermediary automatically translates high-level natural language descriptions or simple graphical specifications into precise robot control commands, thereby simplifying the user interface without compromising the precision required by the robot controller
Solution Approach 2:
The system creates simplified copies or representations of complex robot tasks that can be easily manipulated. Instead of requiring users to work with detailed programming code, the system provides abstracted task models that can be modified through simple operations, reducing the perceived complexity while maintaining implementation precision
3Productivity
If complete re-implementation of robot tasks is performed for every change, then the correctness of the new task is ensured, but the productivity and efficiency of the system decreases
Solution Approach 1:
The system segments robot tasks into independent modular components (trajectory segments, gripper operations, sensor readings). When environmental changes occur, only the affected segments are modified while leaving other segments intact. This segmentation enables faster adaptation by limiting the scope of changes while maintaining correctness through systematic verification of modified segments
Data Source
AI summary
A method and system are provided for programming robots by users without expertise in specialized robot programming languages. In the method, a high-level description is provided by the user to a translator. The translator translates the description into a transformation. A transformer applies the transformation to an existing robot trajectory in order to provide an updated robot trajectory. The updated robot trajectory is then used to operate the robot.