Suction Gripper Pose Planning for Secure Robotic Picking
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Solution Overview
Problem
Existing robot systems for storage and order-picking often fail to ensure secure gripping of goods, leading to incorrect gripping and falling of items from the robot head.
Innovation Solution
A method and system where the robot head calculates a gripping pose to maximize contact with suction grippers based on the determined gripping surface pose and size, and moves into that position to securely grip the goods, using sensors like cameras and depth sensors for accurate positioning and surface detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot head with multiple suction grippers is used to grip goods, then the gripping capability is improved, but the reliability of secure gripping deteriorates due to incorrect gripping and falling of goods
Solution Approach 1:
The system performs preliminary detection of the gripping surface pose and size using a sensor system before gripping. Based on this detection, the controller pre-calculates the optimal gripping pose and determines which suction grippers to activate, ensuring reliable gripping before the actual gripping action occurs
Solution Approach 2:
The sensor system provides feedback information about the gripping surface characteristics to the controller. The controller uses this feedback to adjust the gripping pose and select appropriate suction grippers, creating a closed-loop control system that adapts to different goods and ensures secure gripping
2Reliability
If the robot head is positioned to maximize contact with suction grippers, then the gripping security is improved, but the complexity of calculating the optimal gripping pose increases
Solution Approach 1:
The controller replaces complex mechanical trial-and-error positioning with computational calculation. By detecting the gripping surface pose and size, the system calculates the optimal gripping pose mathematically, determining exactly which suction grippers to activate and at what positions, avoiding the need for complex mechanical adjustment mechanisms
Solution Approach 2:
The system uses its own sensor detection capabilities to automatically determine the gripping parameters. The controller self-adjusts the gripping pose based on the detected gripping surface characteristics, eliminating the need for external intervention or complex pre-programming for different goods types
3Manufacturing precision
If the robot head moves into the calculated gripping pose, then the accuracy of gripping position is improved, but the time required for positioning increases
Solution Approach 1:
The optimal gripping pose is calculated in advance based on the detected gripping surface characteristics, before the robot head moves. This pre-calculation allows the robot to move directly to the correct position without trial-and-error adjustments, reducing positioning time while maintaining high accuracy
Solution Approach 2:
The sensor system creates a digital representation (copy) of the gripping surface pose and size. The controller uses this digital model to calculate the gripping pose, allowing precise positioning through computational geometry rather than physical measurement and adjustment during the positioning phase
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach ensures secure gripping and prevents incorrect gripping or falling of goods, allowing for efficient handling of goods in random arrangements and varying orientations, while minimizing damage to goods and equipment.
Implementation Method 1
a robot head movable in relation to a robot base and comprising at least two suction grippers spaced apart from one another
Data Source
AI summary
A robot system includes a robot having a movable robot head with at least two suction grippers spaced apart from one another and a sensor system for detecting a gripping surface pose and a gripping surface size of a gripping surface of a good. Using a controller, a gripping pose for the movable robot head, in which a maximum number of suction grippers is in contact with the gripping surface of the good, is calculated based on the determined gripping surface pose and gripping surface size. Then, the robot head is moved into the calculated gripping pose where the suction grippers are activated so as to grip the good. Moreover, a method operates the robot system.