Coordinate Mapping for Motion Control of Remotely Operated Equipment
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Solution Overview
Problem
Current motion control systems for remotely operated equipment, such as boom assemblies and robotic arms, are non-intuitive and require extensive training, with high latency and input lag, making real-time control ineffective due to complex individual joint control and lack of dynamic load monitoring.
Innovation Solution
The system receives control inputs from user devices and determines a motion path using closed-form inverse kinematics based on the equipment's geometry and current position, updating the control system to adjust joints and avoid collisions and singularities, with real-time feedback and load monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex individual joint control is used, then precise control of each joint is achieved, but operator training complexity and ease of operation deteriorate
Solution Approach 1:
The patent introduces a control system as an intermediary that translates simple operator inputs into complex multi-joint motion sequences. The control system receives high-level commands (e.g., move arm to position) and automatically decomposes them into precise joint movements, eliminating the need for operators to directly control each joint while maintaining precision.
Solution Approach 2:
The patent replaces manual mechanical control of multiple joints with an automated control system that uses computational algorithms. Instead of operators manually coordinating multiple joints, the system uses inverse kinematics and motion planning to automatically determine and execute the precise joint sequences, substituting mechanical coordination with computational intelligence.
2Adaptability or versatility
If open form calculations with guess and check techniques are used, then flexibility in handling complex motions is achieved, but calculation speed and latency worsen
Solution Approach 1:
The patent pre-computes and stores transformation matrices and kinematic parameters for the robotic system in lookup tables. During real-time operation, the system queries these pre-computed data rather than performing complex calculations from scratch, significantly reducing latency while maintaining the ability to handle complex motions.
Solution Approach 2:
The patent replaces iterative numerical methods with closed-form mathematical solutions. Instead of using guess-and-check iterative optimization, the system employs direct analytical inverse kinematics equations that provide instantaneous solutions, substituting computational iteration with direct mathematical computation for faster real-time response.
3Productivity
If real-time control is implemented, then responsiveness is improved, but input lag and control effectiveness worsen due to high latency
Solution Approach 1:
The patent performs preliminary computations of transformation matrices and kinematic parameters offline or in advance, storing them in lookup tables. During real-time control, the system only needs to query and apply pre-computed values rather than performing heavy calculations, eliminating input lag while maintaining real-time responsiveness.
Solution Approach 2:
The patent skips the time-consuming iterative calculation steps by using direct closed-form solutions and pre-computed lookup tables. The control system rushes through the computation process by directly applying analytical equations and retrieved parameters, eliminating the time delay between operator input and system response.
4Device complexity
If dynamic load monitoring and feedback are not applied, then system simplicity is maintained, but operational safety and reliability worsen
Solution Approach 1:
The patent implements a feedback mechanism that continuously monitors system state parameters (position, velocity, acceleration, load) and feeds this information back to the control system. The feedback enables real-time detection of abnormal conditions and automatic adjustment of control commands, enhancing operational safety without significantly complicating the overall system architecture.
Solution Approach 2:
The patent introduces dynamic monitoring capabilities that adapt to changing system conditions in real-time. The system dynamically adjusts its behavior based on current operational state, such as modifying control commands when approaching singularities or detecting potential collisions, thereby enhancing reliability while maintaining relatively simple system architecture through software-based adaptability.
Data Source
AI summary
Systems and methods for controlling motion of remotely operated equipment such that a motion path is automatically determined for a plurality of joints of the remotely operated equipment based on an updated target position input received from an operator, a current position of the remotely operated equipment, and predetermined parameters indicative of the geometry of the plurality of joints. An optimized motion path may be provided that avoids detected obstacles and joint singularities of the remotely operated equipment.