AR-Guided Robotic Manipulator Control Through Force and Torque Input
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Solution Overview
Problem
Existing robotic manipulator systems lack intuitive and simplified operation methods, particularly when interacting with humans in close proximity, and require complex manual guidance or extensive operating manuals.
Innovation Solution
A manipulator system equipped with sensors for detecting external forces and torques, combined with an augmented reality display that provides interactive command options directly on the manipulator arm, allowing users to generate input commands through applied forces and torques, and an augmented reality device to visualize these interactions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional control methods are used for robotic manipulators, then operational control is achieved, but operation complexity increases and intuitiveness decreases
Solution Approach 1:
The patent replaces traditional mechanical control interfaces (buttons, joysticks, keyboards) with direct physical interaction with the robot itself. Users apply forces and torques directly to the manipulator body, and sensors detect these inputs to generate control commands. This substitution of mechanical control systems with direct force sensing enables intuitive operation without complex control interfaces.
Solution Approach 2:
The patent introduces an augmented reality display as an intermediary between the user and the robot's control system. The AR display visually indicates where and how to apply forces on the manipulator, mediating the interaction by providing real-time guidance overlays that show effective interaction points and expected outcomes, making the force-based control system more accessible and intuitive.
2Productivity
If operating manuals and complex interfaces are provided, then complete control functionality is achieved, but user interaction time and training requirements increase
Solution Approach 1:
The robotic manipulator performs self-service by using its own body as the control interface. The manipulator's structure, equipped with sensors, directly detects user forces and converts them into control commands without requiring external control devices or manual reference materials. This self-service approach eliminates the need for operating manuals and reduces training time, as users naturally understand how to interact with the robot's physical form.
Solution Approach 2:
The augmented reality display provides real-time visual feedback to users about where to apply forces and what commands will be generated. This immediate feedback loop allows users to learn and master the control system rapidly through trial and error, significantly reducing the time needed to become proficient compared to traditional methods that require studying manuals or undergoing extensive training.
3Adaptability or versatility
If force sensing is implemented on the manipulator, then direct physical interaction is enabled, but sensor placement and calibration complexity increases
Solution Approach 1:
The patent makes the manipulator's body serve multiple functions: it is both the operational tool and the control interface. The same manipulator structure that performs tasks also senses user forces through integrated sensors, eliminating the need for separate control devices. This multi-functionality increases adaptability by allowing various interaction methods (pushing, pulling, twisting) while the sensor integration, though complex, is consolidated into the manipulator's existing structure.
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
Enables intuitive and simplified operation of robotic manipulators without the need for manuals, enhancing user interaction and safety by providing context-dependent and visually guided control.
Implementation Method 1
sensors for detecting a force and/or torque applied externally to the manipulator
Implementation Method 2
The robot is configured to yield slightly when pressure is applied, so that, for example, pressure against the end effector is interpreted as an input for a specific action
Implementation Method 3
an augmented reality display device that displays locations on the manipulator arm where a command for the robotic manipulator can be generated
Implementation Method 4
the augmented reality glasses have markers so that the absolute position of the augmented reality glasses in space is determined by a camera tracking system
Data Source
Figure 1
AI summary
The present invention describes a manipulator system having a robotic manipulator (12), wherein the manipulator has sensors for detecting a force and/or torque applied from outside to the manipulator, wherein by applying a force and/or torque from outside to the manipulator (12), commands for the manipulator (12) can be generated. The manipulator system further has an augmented reality display device, by means of which points on the manipulator (12) are displayed at which points a command for the robotic manipulator (12) is generated by means of applying a force and/or a torque from outside. The invention further relates to a method for controlling a robotic manipulator.