Robotic Motion Planning for Placing Unregistered Objects
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Solution Overview
Problem
Robotic systems face challenges in transferring unregistered objects with unknown dimensions, as they lack the necessary sophistication to accurately determine the height and position of objects, leading to potential damage during placement and inefficient motion planning.
Innovation Solution
Incorporating vertically oriented sensors to determine the height of unregistered objects by calculating the difference between the distance from the end-effector and the sensor, allowing for dynamic motion planning and optimized path optimization for precise placement and efficient return paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robotic systems transfer unregistered objects without knowing their dimensions, then the system can operate with simple sensors and basic programming, but the system cannot accurately determine object height and position, leading to potential damage during placement
Solution Approach 1:
The patent introduces an intermediary calculation method that uses the known distance between the end-effector and sensor, combined with the measured distance to the object bottom surface, to derive object height without requiring complex depth mapping sensors. This intermediary calculation approach enables accurate object dimension determination while keeping the sensor system relatively simple.
2Productivity
If the robotic system uses fixed precalculated paths for object transfer, then the motion planning is simple and fast, but the paths are not optimized for actual object dimensions, leading to increased transfer times and potential collisions
Solution Approach 1:
The patent implements dynamic motion planning that adapts precalculated paths based on actual object dimensions detected during transfer. The system calculates modified approach and return paths that account for the specific height and position of each unregistered object, enabling optimized transfer times and collision avoidance while maintaining the efficiency of precalculated path frameworks.
Solution Approach 2:
The system uses real-time distance measurements from the sensor to provide feedback on object position and height, which then feeds back into the motion planning algorithm to dynamically adjust the transfer path. This feedback loop enables the system to optimize each transfer operation based on actual object characteristics while maintaining overall system efficiency.
3Reliability
If the robotic system releases objects from a fixed height, then the release mechanism is simple, but the system cannot account for different object dimensions, increasing the risk of object damage
Solution Approach 1:
The patent dynamically changes the release height parameter based on the detected bottom surface position and dimensions of each unregistered object. By calculating the appropriate release height that accounts for object-specific characteristics, the system ensures safe object placement while maintaining a relatively simple release mechanism that only needs to adjust vertical position rather than complex release dynamics.
Data Source
AI summary
Robotic systems with dynamic motion planning for transferring unregistered objects (and associated systems, devices, and methods) are disclosed herein. In one embodiment, a method for operating a robotic system includes (i) receiving sensor data representing a distance between a sensor of the robotic system and a target object engaged by an end-effector of the robotic system, and (ii) determining a height of the target object based at least in part on the sensor data. The method can further comprise updating, based at least in part on the height of the target object, a motion plan for placing the target object at a destination location. The updated motion plan can include commands, settings, or a combination thereof for operating a robotic arm and the end-effector to (i) approach the destination location and (ii) disengage the target object for placing the target object at the destination location.