34 results about "Virtual fixture" patented technology

A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Methods, articles of manufacture, and devices related to generating haptic feedback for point clouds are provided. A computing device receives depth data about an environment. The computing device generates a point cloud from the depth data. The computing device determines a haptic interface point (HIP). The computing device determines a haptic interface point (HIP). The computing device determines a force vector between the HIP and point cloud. The computing device sends an indication of haptic feedback based on the force vector.

Disclosed herein is a method of horizontally structured CAD/CAM modeling and manufacturing process for fixtures and tooling comprising: selecting a contact area geometry; generating a tooling model corresponding to the contact area geometry; virtual machining the tooling model to generate the fixtures and tooling; and generating machining instructions to create the fixtures and tooling; where the tooling model exhibits an associative relationship with the contact area geometry. Also disclosed herein is a horizontally structured CAD/CAM model for fixtures and tooling, comprising: a selected contact area geometry; a tooling model that corresponds to the contact area geometry, generated from the selected contact area geometry; where the tooling model includes virtual machining operations to generate the fixtures and tooling; and the tooling model exhibits an associative relationship with the contact area geometry. Further disclosed is a storage medium encoded with a machine-readable computer program code for horizontally structured CAD/CAM modeling. The storage medium including instructions for causing a computer to implement the method of horizontally structured CAD/CAM modeling and manufacturing for fixtures and tooling. Additionally disclosed is a computer data signal for horizontally structured CAD/CAM modeling. The computer data signal comprising code configured to cause a processor to implement a method of horizontally structured CAD/CAM modeling and manufacturing for fixtures and tooling.

Apparatus and methods for generating virtual environment displays based on a group of sensors are provided. A computing device can receive first data about an environment from a first group of one or more sensors. The computing device can model the environment as a virtual environment based on the first data. The computing device can determine whether to obtain additional data to model the environment. After determining to obtain additional data to model the environment, the computing device can: receive second data about the environment, and model the environment as the virtual environment based on at least the second data. The computing device can generate a display of the virtual environment.

The invention discloses a control method and system of a robot based on a virtual fixture. The robot comprises a robot arm, and an operator is arranged at the end of the robot arm. The control methodincludes the steps: calculating the shortest distance d according to the posture and the planned processing area; acquiring a guiding force f acting on the end and decomposing it into a component force fN in the normal direction of the shortest distance d and a component force fT in the tangential direction; when the shortest distance d is less than or equal to a preset threshold value D1 and greater than or equal to 0 and the guiding force f points to the boundary of the planned machining area, calculating the target speed vt of the end according to the following formula: vt=G (f) (fT + c. Tau. FN), c. Tau. = d/D1, G (f) is the admittance coefficient; acquiring a current velocity va of the terminal, and calculating a target acceleration at of the terminal according to the current velocityva and the guiding force f; and controlling the manipulator according to the target speed vt and the target acceleration at. The invention adds an acceleration control loop according to the complex curved surface environment, which ensures the machining efficiency in the operation process and improves the safety of the operation.

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a virtual fixture control method and system with high auxiliary precision for robot operation. The virtual fixture control method comprises the steps that manual operation force in the process of pulling a robot is preprocessed to obtain environment interaction force; the actual positionand posture of the robot end and the nearest reference point position and pose of a virtual fixture guiding path are obtained, and the position contour error compensation quantity and the direction contour error compensation quantity of the robot end are generated to obtain error compensation correction force; curve parameters of the virtual fixture guiding path are limited; and the environment interaction force is restrained to generate restrained operation force, and the path deviation of the robot end is compensated online according to the error compensation correction force. The virtual fixture control system comprises a kinesthetic teaching module under a virtual fixture and a contour error estimation and component compensation module. The virtual fixture control method and system enable the robot to be capable of moving back and forth on the virtual fixture guiding path, and have the characteristics of high auxiliary teaching precision, high adaptability and the like.

The invention belongs to related technical field of intelligent robots, and discloses a generation method for robot processing virtual fixtures. The generation method comprises the following steps: the robot kinesthesis demonstration is performed on parts to be machined, and robot kinesthesis demonstration data sets are acquired; curved surface manifolds of the surfaces of the parts to be machinedare generated according to the acquired demonstration data sets; and virtual fixtures needed by tasks are generated according to the obtained curved surface manifolds. The invention further disclosesa corresponding process of machining complicated curved surfaces by a robot. Compared with the prior art, the generation method not only can generate needed complicated curved surface machining virtual fixtures with higher efficiency and higher precision, but also can fully use generalized characteristics of curved surface manifolds to build the virtual fixtures on similar parts, meanwhile, has the advantages of convenience to control, high stability and high adaptability, and prominently improves the machining quality of finally obtained robot workpieces.

The invention discloses an OSG-based construction method of a self-adaptive virtual fixture. The virtual fixture can assist to realize rapid positioning and safety control in the robot remote operation virtual training field. The construction strategy of the self-adaptive virtual fixture is characterized in that the suitable virtual fixture is constructed based on different environmental conditions, and the whole virtual operation efficiency can be improved based on the virtual fixture construction efficiency; whether other articles is between two points can be tested through a radiographic inspection method in an OSG collision testing database when a target article is to move from a starting point to a target point; if no, the virtual fixture with simple shape like cylinder shape can be constructed, and otherwise, the virtual clamp of a safe and short-route virtual pipeline can be self-adaptively constructed. Compared with the virtual fixture with simple shape and invariance in a traditional method, the self-adaptive virtual clamp is high in robustness and generality; in addition, the complexity of modeling of the virtual clamp can be reduced to the maximum, so that the system efficiency can be greatly improved.

The invention relates to a double-person remote control operation training method based on a virtual fixture. Virtual fixture guiding force is introduced into training between a coach and a newcomer to guide the newcomer to operate the virtual fixture, the magnitude of the guiding force felt by the newcomer is in positive relationship with the deviation degree of guiding operation of the coach, the direction of the guiding force felt by the newcomer is in negative relationship with the deviation degree, and virtual fixture evaluation indexes can be adjusted along with the training degree of the newcomer. According to the double-person remote control operation training method based on the virtual fixture, the evaluation indexes of newcomer training are adjusted according to the newcomer training degree, and the training process and the training intensity can be updated in real time.

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a 6D virtual clamp construction method for a complex curved surface. The method comprisesthe steps: S1, performing teaching learning on a complex curved surface, collecting a corresponding teaching data set, and then adopting a smooth manifold learning algorithm to construct a geometricmanifold of the complex curved surface according to the teaching data set; S2, performing projection and geodesic line path planning on the initial point of the geometric manifold by adopting a projection method to obtain a virtual fixture guide path discrete point; S3, parameterizing the discrete points of the virtual fixture guide path, and constructing a curve parameter set according to the pose distance; S4, respectively carrying out pose part interpolation and direction part interpolation on the curve parameter set to generate a 6D virtual clamp. According to the method, accurate planningof the pose and the direction in the 6D virtual clamp structure is achieved, the structure is simple, the generalization characteristic is achieved, and the construction efficiency of the complex curved surface virtual clamp is greatly improved.

The invention relates to a virtual fixture optimization generation method in an operation interaction process. The method utilizes an optimization method to optimize and generate a virtual fixture, firstly selects a path point, performs state variable construction, obtains a state equation which the virtual fixture satisfies, provides required functional functions and constraint conditions, solvesrequired path trajectories and virtual fixture parameters, and generates the virtual fixture based on the generated trajectories and the virtual fixture parameters. The method can obtain different virtual fixture configuration parameters according to the environment in which the virtual fixture is located and its own characteristics, and adapt to more complex task requirements.

The invention relates to a contact type racemization stabilization method for a space teleoperation robot capable of eliminating operation deviation based on a safety channel. Aiming at a failed spacecraft with a certain spin angular velocity, a control loop in a space teleoperation mode is adopted, a space mechanical arm with a brush at the tail end is utilized to make contact with a contact point on a solar wing of the target failed spacecraft for multiple times to reduce the angular velocity of each axis to be within a certain range, and a virtual fixture-based safety channel is used to assist ground operators in controlling the space mechanical arm to contact the contact point on the solar wing. According to the method, racemization stabilization of the target failed spacecraft can be rapidly, safely and stably achieved, the failed spacecraft is taken over for a subsequent on-orbit service platform, preparation is made for subsequent on-orbit services such as capturing and cutting of fault parts, and actual operation conditions such as position and contact force deviation possibly occurring during manual operation are fully considered. By adopting the brush type contact racemization stabilization strategy, the influence can be well eliminated.

System and method for creating/executing an occupant safety test in a structure of an organization having a plurality of courses. The plurality of courses includes germ safe test, occupant exit test, and safety check test. The system adds contextual maps/diagrams corresponding to the physical zone and the fixtures in each zone of the structure. The system adds virtual fixtures/objects over the contextual maps/diagrams of the zone. The system attaches a game marker beside the virtual fixtures/objects. The game marker stores information corresponding to the virtual fixtures/objects for each of the germ safe test, occupant exit test, and safety check test. The system transmits the occupant safety test created to the occupant. The occupant executes the occupant safety test by identifying the game marker to get familiarized with corresponding physical location of the fixtures or safety equipment or incidents in the structure.