Robotic Arm Motion Primitives for Automatic Task Sequencing
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Solution Overview
Problem
Robotic arms require extensive manual programming and operator supervision to adapt to varying tasks and environmental changes, making it tedious and inefficient to perform new tasks or respond to new variables, as each task is unique and requires multiple operators to ensure accuracy and safety.
Innovation Solution
A system that allows robotic arms to automatically generate sequences of operations using predefined motion primitives, which include preconditions and effects, by analyzing the initial and target states of workpieces with a vision acquisition device, and selecting appropriate primitives to achieve the target state, while performing collision checks to ensure feasibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual programming is used for each task, then task accuracy and safety are ensured, but the time and effort required for programming increases significantly
Solution Approach 1:
The system performs preliminary action by pre-defining motion primitives with their preconditions and effects before actual task execution. These primitives are stored in a database and can be automatically selected and combined based on the initial and target states, eliminating the need for manual programming of each task from scratch
Solution Approach 2:
The system uses copying by creating abstract representations (motion primitives) of common motion patterns that can be reused across multiple tasks. Instead of programming each task independently, the system copies and combines these predefined primitives to generate task-specific operation sequences
2Manufacturing precision
If extensive manual programming is required for each task, then precise control is achieved, but the complexity of the control system increases
Solution Approach 1:
The control system is segmented into modular motion primitives, each representing a specific motion pattern with defined preconditions and effects. This segmentation allows the complex control task to be broken down into manageable, reusable units that can be independently defined and systematically combined
Solution Approach 2:
The motion primitives serve multiple functions by being applicable to various tasks. A single primitive can be used in different contexts and combined with other primitives to achieve diverse motion objectives, reducing the overall complexity of the control system
3Reliability
If operators supervise each task to ensure accuracy, then safety and precision are maintained, but productivity decreases due to the need for multiple operators
Solution Approach 1:
The robotic arm system performs self-service by automatically generating operation sequences using the motion primitive database. The system independently determines the sequence of operations based on the initial and target states without requiring external operator intervention, thereby maintaining safety while improving productivity
4Manufacturing precision
If the robotic arm is programmed for specific tasks, then task accuracy is ensured, but adaptability to new tasks and environmental changes is reduced
Solution Approach 1:
The control system exhibits dynamics by adapting its operation sequence generation to different tasks and environmental conditions. The system dynamically selects and combines motion primitives based on the current initial state and desired target state, allowing it to adapt to new tasks while maintaining execution accuracy
Data Source
AI summary
Methods and systems for improved control of robotic arms are presented. In one embodiment, a method is presented that includes predefining a plurality of motion primitives, which may include one or more preconditions and effects. A target state for a plurality of workpieces may be determined as well as an initial state of the plurality of workpieces. A sequence of operations may be generated based on the preconditions and/or effects of the motion primitives, as well as the target state and the initial state. Executing the sequence of operations may be capable of changing the plurality of workpieces from the initial state to the target state.