Robotic Motion Planning for Mixed-Object Sorting Trajectories
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Solution Overview
Problem
Existing robotic and sortation systems face challenges in efficiently and effectively handling a variety of objects of different sizes, shapes, and weights in both structured and cluttered environments, requiring a programmable motion control system that can automate the sorting and handling process.
Innovation Solution
A programmable motion device equipped with an end effector, perception system for object recognition, and a motion planning system that determines specific and unchanging trajectory paths to efficiently move objects from an input location to processing locations, incorporating learning algorithms to adapt to diverse environments and reduce operator assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a programmable motion device is used to automate object sorting, then productivity and efficiency are improved, but the device complexity increases due to the need for perception systems, motion planning systems, and end effectors
Solution Approach 1:
The motion planning system serves multiple functions: it plans trajectories for the end effector, manages perception system data, coordinates with the grasp acquisition system, and adapts to different object types. This multi-functionality reduces the need for separate dedicated systems for each task, improving productivity while managing complexity through integration.
2Manufacturing precision
If the motion planning system determines specific trajectory paths for each object's location and orientation, then manufacturing precision and adaptability are improved, but the computing time and complexity increase
Solution Approach 1:
The system pre-processes perception data to identify object characteristics (location, orientation, type) before motion planning begins. This preliminary analysis allows the motion planning system to quickly generate appropriate trajectories without extensive real-time computation, maintaining high trajectory accuracy while reducing computing time.
Solution Approach 2:
The motion planning system dynamically adjusts trajectory parameters based on real-time perception data about object location and orientation. This dynamic adaptation allows the system to maintain high precision for each specific object while using efficient algorithms that respond to changing conditions rather than computing all possible trajectories in advance.
3Adaptability or versatility
If the system is designed to handle a wide variety of objects with different sizes, shapes, and weights, then adaptability is improved, but the ease of operation decreases due to the need for precise motion control and coordination
Solution Approach 1:
The system changes operational parameters (grip force, motion speed, trajectory shape) based on detected object characteristics such as size, shape, and weight. This parameter adaptation allows the same end effector and motion planning system to handle diverse objects effectively, improving versatility while maintaining ease of operation through automated parameter adjustment rather than manual control.
Data Source
AI summary
A processing system is disclosed for providing processing of objects that include a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin.