Robotic Tool Path Planning Using 3D Channel-Based Obstacle Avoidance
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Solution Overview
Problem
Conventional robotic tool path planning methods face challenges in efficiently navigating three-dimensional spaces due to complexities in robot kinematics, obstacles, and limitations such as singularities and joint limits, often requiring extensive user input and computational time.
Innovation Solution
A computer-implemented method that utilizes the extra degree of freedom in robotic systems, such as rotational angles, to analyze and optimize tool paths by generating channels that avoid obstacles, allowing for automatic path planning and reducing the likelihood of encountering singularities and joint limits, thereby improving path success and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If semi-graphical or semi-automatic approaches are used for tool path planning, then user input is required which improves adaptability, but the complexity of robot kinematics and obstacles makes the planning process challenging and time-consuming
Solution Approach 1:
The patent segments the continuous three-dimensional space into discrete grid cells, transforming the complex path planning problem into a series of simpler two-dimensional channel planning problems. This segmentation allows the system to systematically analyze and plan paths through multiple channels while avoiding obstacles, reducing computational complexity and time requirements.
Solution Approach 2:
The patent transforms the three-dimensional tool path planning problem into a series of two-dimensional channel planning problems by creating top-down views of horizontal channels. This dimensional reduction simplifies the computational complexity while maintaining the ability to navigate three-dimensional spaces and avoid obstacles.
2Reliability
If exhaustive analysis of all possible robotic paths is performed, then path success probability is improved, but computational time increases significantly
Solution Approach 1:
The patent divides the exhaustive path analysis into segmented channel analyses. Instead of analyzing all possible three-dimensional paths at once, the system segments the space into multiple horizontal channels and analyzes each channel separately, significantly reducing computational time while maintaining high path success probability through systematic evaluation of all channels.
Solution Approach 2:
The patent performs preliminary analysis by creating top-down views of horizontal channels before selecting the optimal tool path. This preliminary segmentation and visualization of all possible channels allows the system to efficiently evaluate multiple paths and select the optimal one without requiring exhaustive real-time computation during actual path execution.
3Adaptability or versatility
If robotic systems navigate complex three-dimensional spaces with obstacles, then processing capability is improved, but the likelihood of encountering singularities and joint limits increases
Solution Approach 1:
The patent uses top-down two-dimensional views of horizontal channels to plan tool paths, allowing the robotic system to navigate complex three-dimensional spaces by breaking them down into manageable two-dimensional layers. This approach helps avoid singularities and joint limits by providing clear directional guidance through each channel while maintaining the ability to handle complex spatial configurations.
Solution Approach 2:
The patent performs preliminary planning of tool paths through multiple channels before execution, identifying and avoiding configurations that would lead to singularities or joint limits. By pre-analyzing all possible channels and selecting optimal paths, the system ensures reliable navigation through complex spaces without encountering problematic robotic configurations during execution.
Data Source
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AI summary
In some aspects, computer-implemented methods for selecting a robotic tool path for a manufacturing processing system to execute a material processing sequence in three-dimensional space can include: providing to a computer-readable product including robotic system data of a robotic tool handling system and workpiece data relating to a processing path of a tool along the workpiece; generating a plurality of possible robotic tool paths to be performed to move the tool along the processing path; identifying one or more obstacles, or an absence of obstacles, associated with the robotic tool paths; comparing robotic tool paths based on a predetermined robotic parameter to be controlled as the tool moves from the start point to the end point; and based on the identified obstacles, determining feasible tool paths, between the start point and the end point that avoid the obstacles, that can be obtained by adjusting the predetermined robotic parameter.