In-flight Robotic Arm Retargeting via Weighted Waypoint Blending
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Solution Overview
Problem
Robotic arm movements in industries often result in harsh transitions, leading to potential damage to payloads and robots, as well as inefficiencies and safety concerns, such as startling dairy animals during milking processes.
Innovation Solution
An in-flight retargeting system that allows a robotic arm to transition smoothly between paths by assigning weights to waypoints, creating a hybrid transition path that gradually shifts from one path to another, enabling seamless and efficient movement without completing the initial path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic arm moves along a defined path with sharp transitions, then the movement efficiency is improved, but the payload and robot may be damaged due to harsh movements
Solution Approach 1:
The patent applies dynamics by making the path transitions adaptive and continuous rather than fixed and abrupt. The robotic arm dynamically adjusts its movement trajectory by blending between original path waypoints and target path waypoints in real-time, creating smooth transitions that eliminate harsh movements while maintaining efficient path following.
Solution Approach 2:
The patent changes the parameter of path definition from discrete, sharp transitions to continuous, blended transitions. By introducing a blending mechanism that combines waypoints from different paths with varying weights, the system transforms the movement characteristics to achieve smooth transitions that protect both payload and robot while maintaining productivity.
2Stability of the object's composition
If the robotic arm completes the first path before transitioning to the second path, then the movement is stable, but the response time and adaptability are reduced
Solution Approach 1:
The patent applies preliminary action by preparing the transition to the second path during the execution of the first path. Instead of waiting to complete the first path, the system begins blending toward the second path in advance, allowing the robotic arm to respond more quickly to new targets while maintaining stable, smooth transitions through the blending mechanism.
Solution Approach 2:
The patent ensures continuity of useful action by allowing the robotic arm to simultaneously follow elements of both the first and second paths through the blending mechanism. This continuous transition eliminates idle time between path completions and new path initiations, maintaining productive motion throughout while preserving stability through smooth transitions.
3Speed
If the robotic arm transitions abruptly between paths, then the operational speed is maintained, but the smoothness and safety of movement deteriorate
Solution Approach 1:
The patent applies dynamics by implementing adaptive speed modulation during path transitions. The blending mechanism dynamically adjusts the contribution of original versus target path waypoints, creating smooth transitions that maintain operational speed while eliminating abrupt movements. This dynamic approach allows the system to optimize both speed and smoothness simultaneously rather than treating them as conflicting requirements.
Data Source
AI summary
A system comprising a robotic arm and a robotic arm controller. The robotic arm receives instructions from the robotic arm controller and moves along a path. The robotic arm controller comprises an interface, a memory, and a processor. The interface communicates with the robotic arm. The memory stores a first path and a second path. The processor applies a decreasing weight to the waypoints of the first path and an increasing weight to the waypoints of the second path. The processor combines the weighted waypoints of the first path and the second path to generate a third path wherein the third path defines a transition path from the first path to the second path. The processor further instructs the robotic arm to transition from the first path to the second path by traversing the third path.