Robotic Gripping and Regrip Control for Identifier Scanning
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Solution Overview
Problem
Robotic systems lack the sophistication and control granularity to execute complex tasks efficiently, leading to insufficient automation and storage efficiency, especially in handling and interacting with various objects, which requires advanced cooperation between robotic units.
Innovation Solution
A control method for a robotic system that includes deriving an approach location and a scan location for an end effector to grip and scan operation objects, creating a control sequence for gripping, scanning, temporarily releasing, and shifting objects based on predetermined conditions, and calculating storage efficiency, using imaging data and confidence measures to optimize object manipulation and storage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If traditional robotic systems are used to manipulate operation objects, then basic automation is achieved, but storage efficiency and task execution sophistication are insufficient
Solution Approach 1:
The robotic system divides the operation object into multiple grippable portions and executes segmented control sequences for each portion. This allows the robot to efficiently pack objects into storage containers by manipulating individual sections rather than treating the entire object as a single unit, thereby improving storage efficiency while maintaining automation.
Solution Approach 2:
The system dynamically adjusts control sequences based on real-time conditions such as object orientation, storage container state, and gripper position. This dynamic adaptation enables the robotic system to optimize packing arrangements and improve storage efficiency without requiring manual intervention, resolving the contradiction between automation level and productivity.
2Manufacturing precision
If complex control sequences are implemented for sophisticated object manipulation, then task execution accuracy is improved, but system complexity increases
Solution Approach 1:
The system pre-defines multiple control sequences for different manipulation scenarios and selects the appropriate sequence based on the current state. This approach allows complex manipulation tasks to be executed with high accuracy while keeping the control system manageable, as the complexity is distributed across pre-programmed sequences rather than requiring real-time complex decision-making.
Solution Approach 2:
The robotic system incorporates feedback mechanisms that monitor the state of the operation object and storage container during manipulation. This feedback enables the system to adjust control sequences dynamically, ensuring task execution accuracy while maintaining control system complexity at acceptable levels through adaptive rather than purely reactive control.
3Productivity
If manual intervention is used to optimize object storage, then storage efficiency is improved, but productivity and automation are reduced
Solution Approach 1:
The robotic system autonomously determines optimal storage arrangements and executes packing operations without human intervention. The system uses its sensors and control algorithms to self-optimize storage density by analyzing object characteristics and container space, thereby achieving high productivity and storage efficiency while maintaining full automation.
Solution Approach 2:
The system replaces manual human manipulation with automated robotic manipulation enhanced by imaging technology and sophisticated control algorithms. This substitution enables the robot to achieve storage efficiencies previously only attainable through human expertise, while eliminating the need for continuous human involvement and maintaining high automation levels.
Data Source
AI summary
The present disclosure provides a control method of a robotic system. The control method includes: deriving an approach location at which the end effector grips an operation object; deriving a scan location for scanning an identifier of the operation object; and based on the approach location and the scan location, creating or deriving a control sequence to instruct the robot to execute the control sequence. The control sequence includes (1) gripping the operation object from a start location; (2) scanning an identifier of the operation object with a scanner located between the start location and a task location; (3) temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied; and (4) moving the operation object to the task location.