Robotic Arm Virtual Programming for Collision-Free Component Handling
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Solution Overview
Problem
Existing robotic arm control systems face complexity in managing kinematic redundancy, which complicates the calculation and control of robotic arm movements, especially when multiple solutions exist for reaching a given position and orientation.
Innovation Solution
A method and system that utilize a computer-program product loaded into a computer to control a robotic arm by generating movement instructions based on a three-dimensional model of a component and a virtual environment, allowing for the specification of points of interest and automatic generation of trajectories that avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If kinematic redundancy is implemented in the robotic arm to reach given positions and orientations with multiple solutions, then the adaptability and versatility of the robotic arm is improved, but the device complexity and difficulty of control calculation increase
Solution Approach 1:
The patent introduces a computer as an intermediary device that receives a model of the robotic arm and component, automatically calculates trajectories, and generates control programs. This mediator handles the complex kinematic redundancy calculations, freeing operators from directly managing the computational complexity while preserving the ability to exploit multiple solutions for reaching target positions and orientations.
Solution Approach 2:
The system performs preliminary calculation of trajectories and control programs before actual robotic arm operation. By pre-calculating the optimal paths considering kinematic redundancy and multiple solutions, the complex computational work is done in advance, allowing the robotic arm to execute pre-determined sequences with reduced real-time computational burden.
2Manufacturing precision
If traditional programming languages are used to control the robotic arm, then the precision of movement control is improved, but the ease of operation decreases due to difficulty in foreseeing arm movement and programming complexity
Solution Approach 1:
The patent creates a virtual model (copy) of the robotic arm and component in computer memory. Operators interact with this simplified digital representation to define trajectories and operations, rather than directly programming complex movement sequences. The computer then translates these high-level instructions into precise control commands, maintaining movement precision while dramatically simplifying the programming interface.
Solution Approach 2:
The system replaces traditional mechanical programming approaches with an information-based computational approach. Instead of manually calculating and programming joint movements using complex kinematic equations, the computer automatically processes the model data and generates control sequences, substituting computational intelligence for manual programming effort while maintaining precise control.
3Reliability
If simulation of robotic arm movement is performed to check behavior before actual operation, then the reliability of operation is improved, but the loss of time for programming and verification increases
Solution Approach 1:
The patent merges the programming and simulation verification processes into a single integrated computational workflow. The computer simultaneously processes the robotic arm model, component model, and trajectory calculations while performing virtual verification of the control program. This combination eliminates the need for separate programming and testing phases, maintaining high reliability through comprehensive verification while reducing total time investment.
Data Source
AI summary
A method and product for inspecting and/or handling a component via a robotic arm includes a computer for displaying a first 3-D model of a component in a virtual environment. Sensors are used to generate a second 3-D model of the component which is compared to the first 3-D model to determine the position of the component relative to the robot arm. A graphic interface is used to generate a high level sequence of commands (CPRG) for moving the robot arm and executing predetermined actions on the component. Intended movements of the robot arm and actions in the commands are simulated and evaluated in the virtual environment. Acceptable robot arm movements proven in the virtual environment are converted to movement instructions (RPRG) and sent to a controller to execute movement of the robot, and actions of the sensors and/or actuators to inspect and/or handle the component.