WO2025149509A1 - Appareil et procédé de détermination d'une trajectoire de mouvement pour une structure cinématique d'un robot - Google Patents

Appareil et procédé de détermination d'une trajectoire de mouvement pour une structure cinématique d'un robot

Info

Publication number
WO2025149509A1
WO2025149509A1 PCT/EP2025/050316 EP2025050316W WO2025149509A1 WO 2025149509 A1 WO2025149509 A1 WO 2025149509A1 EP 2025050316 W EP2025050316 W EP 2025050316W WO 2025149509 A1 WO2025149509 A1 WO 2025149509A1
Authority
WO
WIPO (PCT)
Prior art keywords
time instant
weighting factor
kinematic structure
predetermined motion
respective weighting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/050316
Other languages
English (en)
Inventor
Sina MIRRAZAVI
Guilherme MAEDA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Europe Bv
Sony Group Corp
Original Assignee
Sony Europe Bv
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Europe Bv, Sony Group Corp filed Critical Sony Europe Bv
Publication of WO2025149509A1 publication Critical patent/WO2025149509A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40395—Compose movement with primitive movement segments from database
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Definitions

  • the present disclosure relates to motion trajectory planning for kinematic structures of robots.
  • examples of the present disclosure relate to an apparatus and a method for determining a motion trajectory for a kinematic structure of a robot, a robotic system, a non- transitory machine-readable medium and a program.
  • the present disclosure provides a method for determining a motion trajectory for a kinematic structure of a robot for a time instant t.
  • the method comprises receiving first input data indicating a plurality of predetermined motion trajectories.
  • the predetermined motion trajectories satisfy kinematic constraints of the kinematic structure.
  • the method comprises receiving second input data indicating a respective nominal weighting factor for each of the predetermined motion trajectories for the time instant t.
  • the method further comprises determining a respective weighting factor for each of the predetermined motion trajectories for the time instant t based on a minimization of the difference between the respective weighting factor for the time instant t and the respective nominal weighting factor for the time instant t.
  • the method comprises determining the motion trajectory for the time instant t by blending the predetermined motion trajectories based on the determined weighting factors for the time instant t.
  • the present disclosure provides robotic system comprising an apparatus according to the first aspect and a robot comprising the kinematic structure.
  • the robot is configured to receive motion data indicating the determined motion trajectory for the time instant t from the apparatus, and to cause motion of the kinematic structure based on the determined motion trajectory for the time instant t.
  • the present disclosure provides a non-transitory machine- readable medium having stored thereon a program having a program code for performing the method according to the second aspect, when the program is executed on a processor or a programmable hardware.
  • the present disclosure provides a program having a program code for performing the method according to the second aspect, when the program is executed on a processor or a programmable hardware.
  • Fig. 3 illustrates exemplary temporal courses of nominal weighting factors and determined weighting factors for the two predetermined motion trajectories illustrated in Fig. 2;
  • Fig. 5 illustrates exemplary temporal courses of nominal weighting factors and determined weighting factors for the four predetermined motion trajectories illustrated in Fig. 4;
  • Fig- 1 illustrates an exemplary apparatus 100 for determining a motion trajectory for a kinematic structure of a robot for (at) a time instant (time step) t.
  • a kinematic structure of a robot is an arrangement of two or more rigid bodies (links) which are coupled via joints such that they can move relative to each other.
  • the kinematic structure may comprise one or more actuators for moving the two or more rigid bodies with respect to each other.
  • the kinematic structure may be a serial kinematic structure, a parallel kinematic structure or a hybrid kinematic structure.
  • One of the rigid bodies or links may be the robot’s end-effector (i.e., the part of the robot that interacts with its environment).
  • a motion trajectory is the path that an object or a point takes through space as it moves over time. Accordingly, a motion trajectory for a kinematic structure of a robot describes the path the kinematic structure (or a certain part thereof) takes through space as it moves over time.
  • the interface circuitry 110 is configured to receive first input data 101 indicating (representing, encoded with) a plurality of predetermined motion trajectories (i.e. N > 2 motion trajectories).
  • the predetermined (pre-computed) motion trajectories may be generated in various ways. For example, the predetermined motion trajectories may be generated off-line by demonstrations or from optimization methods like optimal control or Ruckig.
  • the predetermined motion trajectories satisfy kinematic constraints of the kinematic structure.
  • the kinematic constraints of the kinematic structure are restrictions or limitations on the motion of a kinematic structure.
  • the interface circuitry 110 is configured to receive second input data 102 indicating (representing, encoded with) a respective nominal weighting (blending) factor for each of the predetermined motion trajectories for the time instant t.
  • the respective nominal weighting factor is a desired (target) weighting factor for each of the predetermined motion trajectories.
  • the respective nominal weighting factor may be determined externally (i.e. not by the apparatus 100) and, hence, received from an external device (not part of the apparatus 100).
  • the processing circuitry 120 is configured to receive and further process first input data 101 and the second input data 102.
  • the processing circuitry 120 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a neuromorphic processor or a field programmable gate array (FPGA).
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the processing circuitry 120 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and/or non-volatile memory.
  • the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 120, cause the processing circuitry 120 to perform the steps and methods described herein.
  • the processing circuitry 120 is configured to determine a respective (actual) weighting factor for each of the predetermined motion trajectories for the time instant t based on a minimization of the difference between the respective weighting factor for the time instant t and the respective nominal weighting factor for the time instant t. In other words, a minimization of the difference between the respective weighting factor for the time instant t and the respective nominal weighting factor for the time instant t is performed to find an optimized respective weighting factor for the time instant t.
  • the processing circuitry 120 is configured to determine the motion trajectory for the time instant t by blending (mixing, combining) the predetermined motion trajectories based on (according to) the determined weighting factors for the time instant t.
  • the predetermined motion trajectories are combined with each other taking into account the determined weighting factors for the time instant t to determine an optimum motion trajectory for the time instant t that satisfies the kinematic constraints of the kinematic structure.
  • the apparatus 100 provides computationally efficient motion planning that addresses various limitations of conventional motion planning approaches.
  • the desired motion of the robot’s kinematic structure is modulated in response to the latest changes in the environment and the imposed kinematic constraints.
  • predetermined (pre-recorded) motion trajectories By integrating predetermined (pre-recorded) motion trajectories and blending them in a seamless manner, the resulting motion trajectory satisfies the robot's constraints while being adaptable to environmental variations (via the nominal weighting factors).
  • the interface circuitry 110 may be further configured to output motion data 103 indicating (representing, encoded with) the determined motion trajectory for the time instant t.
  • the motion data 103 may be fed to the robot. Accordingly, the robot may cause motion of its kinematic structure based on (according to) the determined motion trajectory for the time instant t.
  • the processing circuitry 120 determines the motion trajectory P for the kinematic structure of the robot by blending the predetermined motion trajectories This may be formulated as weighted sum of the predetermined motion trajectories P 7 :
  • the respective weighting factor a 7 is smaller than one and equal to or greater than zero. Accordingly, the processing circuitry 120 determines the respective weighting factor under the constraint that the respective weighting factor is smaller than one and equal to or greater than zero.
  • the sum of the weighting factors a 7 is one Accordingly, the processing cir cuitry 120 determines the respective weighting factor a 7 under the constraint that the sum of the weighting factors a 7 is one.
  • At may be 1 second or less, 0.5 seconds or less, 0.1 seconds or less, 0.01 seconds or less, or 0.001 seconds or less
  • the first exemplary integration scheme is based on an implicit first order Taylor expansion and will be described in the following.
  • a i+1 is a vector representing third order derivates of the respective weighting factor for the time instant
  • the motion trajectory may be calculated in a closed-loop manner without input (feedback) from the robot.
  • Fig. 2 illustrates an exemplary blending of two predetermined motion trajectories.
  • Fig. 2 illustrates exemplary temporal courses of various parameters of the two predetermined motion trajectories and a motion trajectory determined according to the proposed technique.
  • Curve 210 represents the temporal course of the position for the motion trajectory determined according to the proposed technique (i.e., by blending the two predetermined motion trajectories).
  • the curves 211 and 212 represent the temporal courses of the position for the two predetermined motion trajectories blended according to the proposed technique.
  • the curves 213 and 214 represent the position constraints of the robot’s kinematic structure.
  • Curve 220 represent the temporal course of the velocity for the motion trajectory determined according to the proposed technique.
  • the curves 221 and 222 represent the temporal courses of the velocity for the two predetermined motion trajectories blended according to the proposed technique.
  • the curves 223 and 224 represent the velocity constraints of the robot’s kinematic structure.
  • Curve 230 represent the temporal course of the acceleration for the motion trajectory determined according to the proposed technique.
  • the curves 231 and 232 represent the temporal courses of the acceleration for the two predetermined motion trajectories blended according to the proposed technique.
  • the curves 233 and 234 represent the acceleration constraints of the robot’s kinematic structure.
  • Curve 310 represents the temporal course of the nominal weighting factor a 1 (t) for the predetermined motion trajectory represented by curves 211, 221, 231 and 241 in Fig. 2.
  • Curve 311 represents the temporal course of the determined weighting factor ⁇ z 1 (t) for the predetermined motion trajectory represented by curves 211, 221, 231 and 241 in Fig. 2.
  • Curve 320 represents the temporal course of the nominal weighting factor a 2 (t) for the predetermined motion trajectory represented by curves 212, 222, 232 and 242 in Fig. 2.
  • Curve 321 represents the temporal course of the determined weighting factor ⁇ z 2 (t) for the predetermined motion trajectory represented by curves 212, 222, 232 and 242 in Fig. 2.
  • Fig- 4 illustrates in subfigures (a) and (b) the three-dimensional courses at position level of four predetermined motion trajectories and a motion trajectory determined according to the proposed technique from different points of view.
  • curves 410, 420, 430 and 440 represent the temporal courses of the position for the four predetermined motion trajectories blended according to the proposed technique.
  • curve 400 represents the temporal course of the position for the motion trajectory determined according to the proposed technique.
  • Point 401 represents the starting point and point 402 the target point (desired end point) for the movement of the robot’s kinematic structure.
  • Fig- 5 illustrates exemplary temporal courses of nominal weighting factors and determined weighting factors for the four predetermined motion trajectories illustrated in Fig. 4.
  • FIG. 6 further illustrates a robotic system 600 comprising a robot 610, which comprises a kinematic structure 611, and the apparatus 100 for determining a motion trajectory for the kinematic structure of the robot as described herein.
  • the first input data 101 may be provided from a library or memory of the robot system 600 (not illustrated in Fig. 6).
  • the apparatus 100 outputs the output motion data 103 indicating the determined motion trajectory for the time instant t to the robot 610.
  • the robot 610 receives the motion data 103 from the apparatus 100 and causes motion of the kinematic structure based on (according to) the determined motion trajectory for the time instant t.
  • the robot 610 may comprise control circuitry 613 (e.g., a low-level controller) translating (converting) the determined motion trajectory for the time instant t into a low-level command (e.g., a target torque or current) for one or more actuators 612 of the robot driving the kinematic structure 611.
  • control circuitry 613 e.g., a low-level controller
  • converting converting
  • a low-level command e.g., a target torque or current
  • Fig. 7 illustrates a flowchart of a method 700 for determining a motion trajectory for a kinematic structure of a robot for a time instant t.
  • the method 700 comprises receiving 702 first input data indicating a plurality of predetermined motion trajectories.
  • the predetermined motion trajectories satisfy kinematic constraints of the kinematic structure.
  • the method 700 comprises receiving 704 second input data indicating a respective nominal weighting factor for each of the predetermined motion trajectories for the time instant t.
  • the method 700 provides computationally efficient motion planning that avoids various limitations of conventional motion planning approaches.
  • the proposed technique allows to generate jerk constrained trajectories at high frequencies of re-planning, which in turn allows to expand the scope of use of fast industrial robots (e.g. jerk limited) to applications that involve highly dynamical/adaptive tasks.
  • the benefit of the proposed technique is two-fold. For academic and research labs, the benefit is that the poll of available robots potentially expands to those aimed at industrial applications. Industrial robots are not only widely available in different size, shapes, and forms, but also have a low- price tag while requiring less maintenance.
  • the benefit for the industry is that the range of applications and tasks can be more easily expanded to those in which environments are not static and require rapid, unforeseen changes in the robot trajectory.
  • processing circuitry is configured to determine the respective weighting factor for the time instant t under constraints for position and velocity of the kinematic structure and optionally constraints for acceleration and jerk of the kinematic structure.
  • Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component.
  • steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components.
  • Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and/or contain machine-executable, processor-executable or computer-executable programs and instructions.
  • Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example.
  • Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), ASICs, integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above.
  • FPLAs field programmable logic arrays
  • F)PGAs field) programmable gate arrays
  • GPU graphics processor units
  • ASICs integrated circuits
  • ICs integrated circuits
  • SoCs system-on-a-chip
  • aspects described in relation to a device or system should also be understood as a description of the corresponding method.
  • a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method.
  • aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil pour déterminer une trajectoire de mouvement pour une structure cinématique d'un robot pendant un instant t. L'appareil comprend un circuit d'interface configuré pour recevoir des premières données d'entrée indiquant une pluralité de trajectoires de mouvement prédéterminées, les trajectoires de mouvement prédéterminées satisfaisant des contraintes cinématiques de la structure cinématique. En outre, le circuit d'interface est configuré pour recevoir des deuxièmes données d'entrée indiquant un facteur de pondération nominal respectif pour chacune des trajectoires de mouvement prédéterminées pour l'instant t. L'appareil comprend en outre un circuit de traitement configuré pour déterminer un facteur de pondération respectif pour chacune des trajectoires de mouvement prédéterminées pour l'instant t sur la base d'une minimisation de la différence entre le facteur de pondération respectif pour l'instant t et le facteur de pondération nominal respectif pour l'instant t. Le circuit de traitement est en outre configuré pour déterminer la trajectoire de mouvement pour l'instant t par mélange des trajectoires de mouvement prédéterminées sur la base des facteurs de pondération déterminés pour l'instant t.
PCT/EP2025/050316 2024-01-09 2025-01-08 Appareil et procédé de détermination d'une trajectoire de mouvement pour une structure cinématique d'un robot Pending WO2025149509A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP24150985 2024-01-09
EP24150985.0 2024-01-09

Publications (1)

Publication Number Publication Date
WO2025149509A1 true WO2025149509A1 (fr) 2025-07-17

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PCT/EP2025/050316 Pending WO2025149509A1 (fr) 2024-01-09 2025-01-08 Appareil et procédé de détermination d'une trajectoire de mouvement pour une structure cinématique d'un robot

Country Status (1)

Country Link
WO (1) WO2025149509A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220155921A (ko) * 2021-05-17 2022-11-24 로베르트 보쉬 게엠베하 로봇 디바이스를 제어하기 위한 방법

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220155921A (ko) * 2021-05-17 2022-11-24 로베르트 보쉬 게엠베하 로봇 디바이스를 제어하기 위한 방법

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Trajectory Planning for Automatic Machines and Robots", 1 January 2008, SPRINGER-VERLAG, ISBN: 978-3-642-09923-6, article BIAGIOTTI LUIGI ET AL: "Trajectory Planning for Automatic Machines and Robots", pages: 335 - 515, XP093270998, DOI: 10.1007/978-3-540-85629-0 *
VINJAMURI R ET AL: "Dimensionality Reduction in Control and Coordination of the Human Hand", IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, IEEE, USA, vol. 56, no. 2, 1 February 2010 (2010-02-01), pages 284 - 295, XP011296073, ISSN: 0018-9294 *

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