Robotic Gripper Collision Modeling for Adaptive Vacuum and Finger Control
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Solution Overview
Problem
Current robotic gripping systems are limited in handling irregularly-shaped objects and are often custom-made for specific applications, lacking versatility and ability to dynamically avoid collisions, especially when dealing with varying object types and environments.
Innovation Solution
A robotic apparatus equipped with a vacuum port and stabilizing fingers, utilizing a dynamic collision model for motion planning, which generates a collision scene from environmental images or videos to selectively actuate the vacuum port and gripping structures, allowing for dynamic collision avoidance and adaptive motion paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robotic grippers use independent joint movement along 360-degree axes for flexibility, then the ability to reach more areas and objects is improved, but the likelihood of collisions with objects or obstacles increases
Solution Approach 1:
The robotic gripper transitions from static pre-planned paths to dynamic motion control that continuously adapts to the environment. The system uses real-time sensor feedback and iterative collision scene generation to dynamically adjust motion paths, allowing the gripper to maintain flexibility while avoiding collisions with objects or obstacles in the workspace.
Solution Approach 2:
The system implements feedback through iterative collision scene generation and motion path adjustment. Sensors detect objects and obstacles in real-time, the controller generates collision scenes based on this data, and motion paths are dynamically modified to avoid collisions while still achieving the desired gripping task.
2Device complexity
If pre-planned motion paths are used for end-effectors, then motion control is simplified, but the system performs suboptimally when encountering dynamic obstacles
Solution Approach 1:
The motion control system transitions from static pre-planned paths to dynamic path generation that adapts to real-time environmental conditions. The controller continuously generates updated motion paths based on current sensor data and collision scenes, enabling optimal navigation around dynamic obstacles while maintaining manageable system complexity through iterative refinement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robotic gripper to effectively handle diverse objects and environments by providing an object-agnostic gripping system that can dynamically adjust its motion to avoid collisions, enhancing its versatility and safety in dynamic work environments.
Implementation Method 1
a vacuum port configured to provide a vacuum suction force
Data Source
AI summary
Techniques for controlling a robotic gripping system that utilizes vacuum suction and finger grasping, are disclosed. The vacuum suction and finger grasping are actuated based on a dynamic collision model. The dynamic collision model is used to generate collision scenes of a surrounding environment. The collision scenes are used to determine possible collisions in a motion path, which are used to selectively actuate the vacuum suction and/or finger grasping.