Simulation Signature Keys for Reusing Robotic Motion Planning
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Solution Overview
Problem
Robotic simulation systems face inefficiencies and high computational costs due to the time-consuming and intensive process of generating motion planning data, which is not effectively reused across similar robotic path sequences.
Innovation Solution
The implementation of simulation signature keys, which uniquely identify sequences of target locations in robotic path data, allowing for caching and reuse of motion planning data by partitioning robotic path data into simulation events and generating keys based on event partitioning criteria, thereby reducing the need for repetitive simulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motion planning data is generated through full robotic simulation for each path sequence, then simulation accuracy is maintained, but computational time and processing costs increase significantly
Solution Approach 1:
The robotic path data is segmented into simulation events based on event partitioning criteria. Each simulation event represents a discrete portion of the overall path that can be independently processed. This segmentation enables selective simulation of only those events that have changed, rather than re-simulating entire path sequences, thereby reducing computational time while maintaining accuracy for modified segments.
Solution Approach 2:
Motion planning data is pre-computed and stored in a motion planning cache for simulation events that have already been processed. When the same or similar path sequences are encountered again, the cached data is retrieved and reused, eliminating the need for repetitive full simulations. This preliminary action stores results in advance for future reuse, significantly reducing computational time.
2Loss of time
If motion planning data is cached and reused for similar path sequences, then computational time is reduced, but system complexity increases due to cache management requirements
Solution Approach 1:
The system employs a feedback mechanism where simulation events are compared against cached motion planning data using signature keys. The event partitioning criteria and signature generation create a feedback loop that determines whether cached data can be reused or if new simulation is required. This structured feedback approach manages system complexity by providing clear decision rules for cache utilization.
Solution Approach 2:
A motion planning cache acts as an intermediary layer between the robotic path data input and the simulation engine. This cache mediates by storing pre-computed motion planning data and providing it to the system when applicable, reducing the need for repeated full simulations. The cache manages complexity by absorbing the burden of data storage and retrieval operations.
3Productivity
If robotic path data is partitioned into simulation events with signature keys, then data processing efficiency improves, but the complexity of data structure increases
Solution Approach 1:
Robotic path data is divided into discrete simulation events based on event partitioning criteria such as changes in target locations, motion parameters, or other significant path characteristics. Each simulation event is assigned a signature key that uniquely identifies it. This segmentation improves processing efficiency by enabling targeted simulation of only changed events while using the signature key system to organize and manage the segmented data structures.
Data Source
AI summary
Systems and methods may support generation and use of simulation signature keys for robotic simulations. A computer-aided manufacturing (CAM) system may access robotic path data for a robot that includes target locations and corresponding motion parameters for the robot. The CAM system may partition the robotic path data into simulation events according to event partitioning criteria such that each simulation event includes one or multiple target locations and corresponding motion parameters and further generate a respective signature simulation key for each partitioned simulation event. The simulation signature key may provide a lookup key into a motion planning data cache. When an entry exists in the motion planning data cache for a simulation signature key generated for a simulation event, the CAM system may retrieve cached motion planning data for the simulation event. When an entry does not exist, the CAM system may obtain motion planning data through robotic simulation.