Robot End Effector Transfer with Predefined Redundant Axis Progression
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Solution Overview
Problem
Existing methods for transferring a robot's end effector between poses result in unpredictable axis division progressions, affecting safety and operability, especially when the robot has more degrees of freedom than specified poses, leading to increased computational load and potential collisions.
Innovation Solution
A method and system that specify a uniform progression for redundant axes before transfer, allowing for controlled axis movements based on a control operating mode, reducing unexpected changes and optimizing robot safety and operability by utilizing redundancy and minimizing computational load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If redundancy resolution methods are used to transfer the end effector between poses, then the robot can handle tasks with more degrees of freedom, but the axis division progression becomes unpredictable and unexpected changes occur
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing the progression of the redundant axis between two end effector poses before the actual transfer occurs. This stored progression is then reused for multiple transfers between the same poses, ensuring consistent and predictable axis division while maintaining the ability to handle redundant degrees of freedom. The pre-computed progression eliminates unexpected changes in axis behavior.
2Adaptability or versatility
If redundancy resolution is performed in real-time during transfer, then the robot can adapt to different poses, but the computational load increases processing time
Solution Approach 1:
The patent resolves the time-computation contradiction by performing the computationally intensive redundancy resolution in advance, before the actual end effector transfer. The progression of the redundant axis is calculated offline and stored, so that during real-time operation, the system only needs to retrieve and execute the pre-computed progression, dramatically reducing processing time while maintaining full adaptability.
Solution Approach 2:
The patent uses copying by storing the computed axis progression as reusable data that can be copied and applied to multiple transfer operations between the same poses. Instead of recalculating the redundancy resolution each time, the system copies the pre-computed progression data, significantly reducing computational load during real-time execution.
3Ease of operation
If the redundant axis progression is not controlled, then the robot has flexibility in movement, but safety and operability are compromised due to unexpected changes
Solution Approach 1:
The patent applies parameter changes by transforming the redundant axis progression from an uncontrolled variable to a controlled parameter. The progression is calculated as a specific parameter that defines the relationship between the redundant axis position and the end effector poses. By parameterizing the progression and storing it for reuse, the system maintains movement flexibility while ensuring predictable and safe operation through controlled parameter evolution.
Data Source
AI summary
A method for transferring an end effector of a robot between an end effector pose and a further end effector pose, for at least one axis of the robot includes specifying the same uniform progression of the position of the axis, particularly in advance, for the transfer between the one end effector pose and the one further end effector pose, and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control operating mode. For at least one further axis of the robot, different progressions of the position of the further axis are commanded, more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and the at least one of the further end effector poses.