Co-Handling Robot Control for Complex Tool Motion Mapping
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Solution Overview
Problem
Current co-manipulation robots are limited in their ability to assist operators with complex tasks due to their requirement for identical movements between the operator and the tool, making them ineffective for tasks beyond simple operations.
Innovation Solution
A co-manipulation robot design featuring a first chain of elements with a proximal and distal end, where the control member is linked to elements other than the distal end, allowing for coupling of simpler movements by the operator to result in more complex movements of the distal end, enabling intuitive control and force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control member is directly linked to the distal end element, then the operator can directly control the tool movements, but the operator must perform complex movements and is exposed to hazardous areas
Solution Approach 1:
The system divides the control function into two separate interaction ports: a control member for operator input and a distal end element for tool execution. This segmentation allows the operator to remain distant from hazardous areas while still controlling the tool through the robotic chain of elements.
Solution Approach 2:
The robotic chain of elements acts as an intermediary between the control member and the distal end element. The control means couples movements from the control member through this intermediary to produce the desired complex movements at the distal end, enabling safe remote operation.
2Ease of operation
If the operator performs simple movements at the control member, then ease of operation is improved, but the ability to perform complex tasks is limited
Solution Approach 1:
The control means transforms the movement parameters from the control member into different movement parameters at the distal end element. Simple movements at the control member are coupled with complex movements at the distal end through the control algorithm, enabling versatile task performance while maintaining operational simplicity.
Solution Approach 2:
The system adds dimensional transformation to the control mechanism. Movements in certain dimensions at the control member are coupled with movements in different dimensions at the distal end element, allowing simple operator gestures to produce complex multi-dimensional tool movements necessary for sophisticated tasks.
3Reliability
If the control member is linked to intermediate elements rather than the distal end, then operator safety is improved, but the direct control feel is reduced
Solution Approach 1:
The control means provides feedback coupling between the control member and distal end element movements. This feedback mechanism maintains the control feel by allowing the operator to physically sense the interactions between the tool and the environment, despite the physical distance and system complexity.
4Device complexity
If identical movements are reproduced by the tool, then system simplicity is maintained, but productivity for complex tasks is reduced
Solution Approach 1:
The control means transforms movement parameters to enable complex task execution. Rather than simply reproducing identical movements, the system modifies movement parameters through the coupling mechanism to achieve more sophisticated tool movements that improve productivity for complex tasks while maintaining reasonable system simplicity.
Data Source
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AI summary
The invention relates to a robot comprising a tool (8), a first chain of elements having a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.