Admittance Mode Control System for Robotic Arm Safety
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Solution Overview
Problem
Existing robotic arm control systems in admittance mode lack a safety control loop to prevent unwanted movement due to malfunctions of components that initiate admittance mode behavior or motorized joint malfunctions.
Innovation Solution
A control system with an admittance mode for robotic arms, featuring an admittance switch, rotary contact, and control circuitry that interprets signals to filter circuit misconduct from admittance switch activation, and communicates a request for admittance to a robot driver to convert the robotic arm's operation into admittance mode.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If admittance mode control is implemented for flexible robotic arm positioning, then ease of operation is improved, but reliability deteriorates due to lack of safety control loop
Solution Approach 1:
The patent implements a safety control loop that continuously monitors the state of the admittance switch and rotary contact, providing feedback to the control circuitry to detect circuit misconduct and prevent unwanted activation of admittance mode
Solution Approach 2:
The patent introduces an intermediary safety control mechanism between the admittance switch and the robot driver, using a rotary contact and control circuitry with NOR gate logic to mediate the signal transmission and filter out false activations
2Reliability
If fixed robotic arm disposition is used during medical procedure, then reliability is improved, but adaptability deteriorates as it blocks personnel movement
Solution Approach 1:
The patent enables dynamic switching between fixed controlled disposition and flexible admittance mode, allowing the robotic arm to transition from a rigid fixed position to a manually guideable flexible position based on procedural needs
Data Source
AI summary
An admittance mode control system for a robotic arm includes an admittance switch adapted to be mounted to the robotic arm. A rotary contact connects a control circuitry to the admittance switch. The control circuitry is adapted to be mounted to the robotic arm, rotational degree(s) of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation. The control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.