Robotic Object Handling Control for Fast Grip Strategy Selection
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Solution Overview
Problem
Existing handling systems face challenges in efficiently holding objects with varying shapes, sizes, and weights due to complex calculation requirements for determining the optimal holding strategy, leading to increased calculation time and reduced efficiency.
Innovation Solution
A handling system comprising a movable arm, a holder, and a controller that uses sensors to detect objects and evaluate the effectiveness of arrangement changes, allowing for dynamic decision-making on holding strategies, including the choice between pinching and adsorption methods, to facilitate easier object handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If many calculation operations are performed to determine the optimal holding strategy for objects with various shapes, sizes, and weights, then the holding accuracy and adaptability are improved, but the calculation time increases and productivity decreases
Solution Approach 1:
The system pre-calculates and stores optimal holding strategies for various object types in a database before actual handling operations. When an object needs to be held, the controller queries the database using object recognition results (shape, size, weight) to retrieve the pre-prepared holding strategy, avoiding real-time complex calculations and significantly reducing computation time while maintaining high adaptability to different objects
Solution Approach 2:
The system dynamically adjusts the holding strategy selection process based on object characteristics. For common object types with pre-stored strategies, the system quickly retrieves the optimal approach. For novel or complex objects, the system performs more detailed analysis and calculations. This dynamic approach optimizes the balance between calculation thoroughness and processing speed, improving both adaptability and productivity
2Manufacturing precision
If the holding strategy is optimized for each specific object, then the handling precision is improved, but the device complexity and calculation requirements increase
Solution Approach 1:
The holding strategy determination process is segmented into distinct stages: object recognition and characterization, database query for pre-stored strategies, strategy retrieval, and execution. This segmentation allows the complex problem of optimal holding strategy determination to be broken down into manageable steps, reducing control system complexity while maintaining high holding precision through systematic processing
Solution Approach 2:
A database serving as an intermediary layer is introduced between object recognition and holding strategy determination. The database stores pre-calculated optimal holding strategies for various object types. When handling an object, the controller uses object characteristics as keys to query the database and retrieve the appropriate pre-prepared strategy, avoiding the need for complex real-time calculations and simplifying the control system architecture while maintaining high precision
3Ease of operation
If arrangement change operations are performed on objects before holding, then the ease of operation is improved, but the handling time and productivity may decrease
Solution Approach 1:
The system performs arrangement change operations selectively rather than universally. Based on object characteristics and the retrieved holding strategy, the controller determines whether an arrangement change is necessary. For objects that are already in suitable positions or orientations, the system proceeds directly to holding without additional arrangement operations, minimizing time loss. Arrangement changes are performed only when they will significantly improve the ease of operation, achieving an optimal balance between operation ease and time efficiency
Data Source
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AI summary
According to an embodiment, there is provided a handling system capable of handling a plurality of objects, the handling system including: a movable arm, a holder, a sensor, and a controller. The holder is attached to the movable arm and is capable of holding the object. The sensor is capable of detecting the object. The controller controls the movable arm and the holder. The controller determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor. In a case where it is determined to change the arrangement of the object, the controller evaluates effectiveness of an arrangement change operation for each object, and decides on an arrangement change operation on the basis of an evaluation result.