Work Robot Trajectory Replanning for Faster Teaching Updates
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Solution Overview
Problem
Current picking systems and industrial robots face inefficiencies in teaching work due to the need for detailed programming and extensive calculations, especially when changes occur in the robot's structure, settings, or environment, leading to reduced manufacturing throughput and increased burden.
Innovation Solution
A control apparatus and method that uses inverse kinematic and kinetic techniques to plan the operation of a work robot's manipulator, narrowing down regions requiring precise calculations to reduce the calculation time and burden of teaching work, by classifying trajectories that need correction and replanning only those affected by changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If detailed programming and extensive calculations are performed for teaching work, then manufacturing precision and reliability are improved, but productivity and ease of operation deteriorate due to increased burden and time consumption
Solution Approach 1:
The teaching work process is segmented into essential trajectory points only, rather than requiring detailed programming of every movement. The system identifies and plans only the critical waypoints needed for accurate manipulation, dividing the complex teaching process into manageable segments that maintain precision while reducing overall time consumption.
Solution Approach 2:
The system performs preliminary classification of trajectories to identify which ones require correction before detailed planning begins. By pre-identifying affected trajectories based on changes in robot structure, settings, or environment, the system prepares only the necessary portions for detailed calculation, avoiding redundant computations and speeding up the overall process.
2Reliability
If detailed programming is performed for all trajectories, then reliability is improved, but loss of time increases due to extensive calculations required
Solution Approach 1:
Instead of performing detailed calculations for all trajectories, the system applies partial action by calculating only those trajectories that are actually affected by changes. The classification mechanism identifies the minimal subset of trajectories requiring correction, performing detailed planning only where necessary to maintain reliability while significantly reducing overall calculation time.
Solution Approach 2:
The system uses feedback from change detection in robot structure, settings, or environment to dynamically determine which trajectories require recalculation. This feedback mechanism ensures that reliability is maintained by recalculating affected trajectories while avoiding unnecessary calculations on unaffected ones, optimizing the balance between reliability and time consumption.
3Adaptability or versatility
If comprehensive trajectory planning is performed, then adaptability to changes is improved, but device complexity increases due to extensive processing requirements
Solution Approach 1:
The control system is segmented into distinct functional modules: a classification unit that identifies affected trajectories and a planning unit that performs detailed calculations only on those identified trajectories. This segmentation reduces overall system complexity by dividing the comprehensive planning task into manageable, specialized components that can operate independently and efficiently.
Solution Approach 2:
The classification function performs preliminary analysis of changes in robot structure, settings, or environment before detailed trajectory planning begins. This preliminary action identifies which trajectories require correction, allowing the system to adapt to changes efficiently without requiring complex processing of all possible trajectories, thereby reducing device complexity while maintaining adaptability.
Data Source
AI summary
A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.