Articulated Arm Torque Limits for Mobile Base Stability
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Solution Overview
Problem
Robotic arms in constrained environments face challenges in managing torques to maintain stability of the robot base, as existing technologies fail to effectively limit arm forces and torques, potentially destabilizing the base during task execution.
Innovation Solution
A computer-implemented method and system that generates a joint-torque-limit model based on allowable joint torque sets corresponding to the robot base configuration, optimizing and adjusting requested joint torque sets to ensure stability, including determining allowable wrench forces and arm forces, and executing coarse and fine torque adjustments to project torque sets within safe limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the robotic arm applies high joint torques to perform tasks efficiently, then task execution speed and power increase, but the robot base stability deteriorates
Solution Approach 1:
The system pre-computes a joint-torque-limit model before task execution, determining the maximum allowable joint torques for each arm configuration that maintain base stability. This preliminary action establishes torque boundaries that prevent base destabilization while enabling efficient task execution within safe limits.
Solution Approach 2:
The system dynamically adjusts joint torque parameters by projecting requested torque sets onto the pre-computed limit model. When requested torques exceed stability thresholds, the system modifies torque values to lie within the allowable region, maintaining both task performance and base stability through continuous parameter optimization.
2Stability of the object's composition
If the system computes detailed joint-torque-limit models to ensure base stability, then base stability improves, but computational complexity increases
Solution Approach 1:
The computationally intensive joint-torque-limit model is pre-computed offline or at low speed before real-time control, separating the heavy computational burden from the real-time control loop. This allows detailed stability analysis without impacting real-time response performance.
Solution Approach 2:
The system implements a two-speed computational architecture where the joint-torque-limit model is updated at low speed when base configuration changes, while real-time torque adjustment operates at high speed using the pre-computed model. This dynamic approach optimizes computational resource allocation across different time scales.
3Manufacturing precision
If the robotic arm operates in constrained environments with limited workspace, then task precision improves, but the range of motion and flexibility decrease
Solution Approach 1:
The system computes torque limits locally for each specific arm configuration and base pose rather than applying global constraints. This allows the arm to operate with high precision in constrained regions while maintaining adaptability to different configurations, as torque boundaries are tailored to local stability requirements.
Solution Approach 2:
The system transforms the torque control problem from Cartesian space to joint space by working with joint torque sets and configurations. This dimensional transformation enables precise control in constrained environments while naturally accommodating the arm's kinematic constraints and maintaining flexibility through joint-level parameter adjustment.
Data Source
AI summary
A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.