Robotic Holding Control for Multi-Method Object Picking
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Solution Overview
Problem
Existing handling systems face challenges in efficiently determining and implementing optimal holding strategies for objects of varying shapes, sizes, and weights, particularly in logistics and industrial settings, as they require adaptive methods to switch between different holding tools and methods effectively.
Innovation Solution
A handling system comprising a movable arm, a holding unit, and sensors, controlled by a controller that calculates scores for different holding methods based on object information, selects the appropriate holding method, and adjusts the arm's position and posture to efficiently handle objects, minimizing the need for method switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple holding methods are used to handle objects of various shapes, sizes, and weights, then the adaptability of the handling system is improved, but the complexity of switching between holding methods increases
Solution Approach 1:
The holding unit is designed with multiple holding methods (pinching, adsorption, magnetic attraction) integrated into a single device, allowing it to perform various holding functions without requiring separate tools for each object type
Solution Approach 2:
The holding unit can dynamically switch between different holding methods based on real-time sensor feedback and controller decisions, adapting its holding strategy to match the specific characteristics of each object being handled
2Adaptability or versatility
If frequent switching between holding methods is performed, then the adaptability to different objects is improved, but the time required for handling operations increases
Solution Approach 1:
The sensor detects object characteristics (shape, size, weight) before the holding operation begins, and the controller pre-determines the appropriate holding method and parameters, so that when the holding unit approaches the object, the switching decision is already made and execution can proceed immediately
Solution Approach 2:
The sensor provides real-time feedback about object characteristics to the controller, which uses this information to automatically select and adjust the holding method without requiring manual intervention or trial-and-error switching
3Manufacturing precision
If precise determination of holding position and posture is required, then the handling precision is improved, but the computational complexity increases
Solution Approach 1:
The sensor automatically captures object characteristics and the controller autonomously calculates the optimal holding position and posture based on detected data, eliminating the need for manual programming or complex external computation systems
Data Source
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AI summary
According to one embodiment, a handling system includes a movable arm, a holding unit, a sensor, and a controller. The holding unit is attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods. The sensor is capable of detecting a plurality of the objects. The controller controls the movable arm and the holding unit. The controller calculates a score based on a selected holding method for each object and each holding method on the basis of information acquired from the sensor. The controller selects a next object to be held and a holding method on the basis of the score. The controller calculates a position at which the selected object is held and a posture of the movable arm.