Robotic End-Effector Tool Selection for Object Pose Adaptation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems face challenges in gripping and transferring objects in sub-optimal locations or poses due to a lack of sophistication in replicating human sensitivity and adaptability.
Innovation Solution
A robotic system that selects and connects to different end-effector tools, including standard fixed, fixed-angle, and flexible head tools, to adapt to various object poses and orientations, and plans and optimizes the transfer of multiple objects to minimize tool changes and errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single fixed end-effector tool is used, then the device complexity is reduced, but the adaptability to various object poses and orientations deteriorates
Solution Approach 1:
The robotic system dynamically selects and switches between different end-effector tools based on the detected pose and characteristics of each object. This dynamic adaptation allows the system to handle diverse object orientations and positions without requiring a permanently complex mechanical structure, as the tool selection is driven by real-time object analysis rather than fixed multi-tool mechanisms.
Solution Approach 2:
The system automatically analyzes object characteristics and independently determines the appropriate end-effector tool to use, eliminating the need for manual tool selection or complex automated tool-changing mechanisms. The robotic system serves itself by making intelligent tool selection decisions based on sensor data and pre-stored object information.
2Adaptability or versatility
If tool changes are made for each object, then the adaptability to different object poses is improved, but the productivity and time consumption deteriorate
Solution Approach 1:
The system performs preliminary analysis of multiple objects in advance, determining the optimal end-effector tool for each object before actual manipulation begins. This advance planning allows the robotic system to batch process objects with similar characteristics using the same tool, minimizing the frequency of tool changes and maximizing productivity during the actual transfer operation.
Solution Approach 2:
By pre-planning tool selection for multiple objects, the system ensures continuous manipulation operations with minimal interruptions for tool changes. The robotic arm can maintain continuous motion and manipulation actions across multiple objects, reducing idle time and maintaining high productivity while still adapting to different object poses through intelligent tool selection.
3Adaptability or versatility
If multiple end-effector tools are maintained ready, then the adaptability is improved, but the resource consumption and device complexity increase
Solution Approach 1:
Instead of maintaining multiple end-effector tools in a complex tool library that requires energy-intensive retrieval and switching mechanisms, the system extracts and uses only the specific tool needed for each object type. This on-demand approach reduces the number of tools that must be maintained in ready state, lowering energy consumption for tool management while preserving adaptability through selective tool deployment.
Data Source
AI summary
A system and method for operating a robotic system to use two or more tools to manipulate objects. The robotic system may coordinate planning processes and/or plan implementations based on grouping the objects.