Robotic Arm UI Flow for Adaptive Fastener Trajectory Planning
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Solution Overview
Problem
The challenge in aircraft fastener removal lies in the non-uniform arrangement of fasteners across different aircraft models, making it difficult to design an automated system that can accurately generate paths and trajectories for each fastener, as the orientation and type of fasteners vary significantly, preventing the use of one aircraft part's fastener orientation as a template for another.
Innovation Solution
A system that guides a robot through dynamic path planning and trajectory planning using a user interface (UI) to receive point cloud data, segment objects, identify targets like holes or fastener heads, calculate three-dimensional positions, and generate virtual points for a path while avoiding collisions, allowing for precise robotic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed template for fastener orientation is used, then the device complexity is reduced, but the adaptability to different aircraft models deteriorates
Solution Approach 1:
The system dynamically generates paths and trajectories based on real-time point cloud data and detected fastener positions rather than using fixed predetermined paths. The path planning adapts to each specific aircraft configuration, allowing the robotic arm to handle non-uniform fastener arrangements across different aircraft models while maintaining automated operation.
Solution Approach 2:
The system changes operational parameters (path coordinates, trajectory points, end effector orientation) based on detected fastener positions from point cloud data. This allows the system to adapt to varying fastener orientations and locations across different aircraft models by dynamically adjusting motion parameters rather than using fixed templates.
2Adaptability or versatility
If dynamic path planning is implemented for each fastener, then the adaptability to different aircraft models is improved, but the device complexity increases
Solution Approach 1:
The system creates virtual point cloud representations and generates paths based on detected fastener positions, effectively copying the essential geometric information needed for path planning without requiring complex physical templates or pre-programmed configurations for each aircraft model. This simplifies the adaptation process while maintaining accuracy.
Solution Approach 2:
The system introduces an intermediary processing layer that converts raw point cloud data into simplified path and trajectory representations. This intermediary step (generating virtual points and collision-free paths) reduces the complexity of direct control while maintaining adaptability to different fastener configurations.
3Productivity
If the robotic arm operates autonomously without user input, then the productivity is improved, but the ease of operation deteriorates
Solution Approach 1:
The system incorporates real-time visualization of the point cloud data, detected fasteners, and generated paths through a user interface. This feedback mechanism allows users to monitor and verify the autonomous path planning process, making the system easier to operate and control while maintaining high productivity through automated execution.
Solution Approach 2:
The system performs autonomous path generation and trajectory planning without requiring detailed user programming or intervention. The robotic arm automatically processes point cloud data, detects fasteners, generates collision-free paths, and executes removal operations, enabling high productivity while keeping the user interface simple and easy to operate.
Data Source
AI summary
Aspects of the disclosure are directed towards path generation. A method includes a user interface (UI) displaying a first page on a first pane, wherein the first page provides a first control input for registering a working frame of a target object with a reference frame of a robot. The method further includes receiving, via the UI, a first user selection of the first control input for registering the working frame with the reference frame, based on detection of the first user selection. The UI can display a second page on the first pane, wherein the second page provides a second control input for generating a path for the robot to traverse over a surface of the target object. The method further includes receiving, via the UI, a second user selection of the second control input for generating the path, based on detection of the second user selection.