Dual-Arm Robot Control via Single Grip for IED Disposal
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Solution Overview
Problem
Conventional unmanned ground vehicles (UGVs) and MRAPs face challenges in navigating cluttered environments and controlling robotic arms with precision, particularly in situations where obstacles restrict movement and access to work pieces, such as improvised explosive devices (IEDs).
Innovation Solution
A robot system comprising a macro robotic arm and a micro robotic arm, controlled through a single intuitive interface grip, allowing for seamless transition between control states to manage the movement of both arms and a UGV, enabling precise operation in cluttered spaces and overcoming mobility restrictions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single control interface grip is used to control multiple robotic arms, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The control interface grip is designed to serve multiple functions by controlling both the macro robotic arm and micro robotic arm through the same interface. This allows a single device to perform multiple control tasks, improving ease of operation while managing complexity through functional integration rather than proliferation of separate controls
Solution Approach 2:
The control system implements a nested hierarchy where the macro robotic arm operates at one level of control and the micro robotic arm operates at another level, with both nested within the same control interface grip. This nested structure allows intuitive control where broader movements control the macro arm and finer adjustments control the micro arm, resolving the contradiction between ease of operation and device complexity
2Manufacturing precision
If separate controls are used for each joint of the robotic arm, then manufacturing precision is improved, but ease of operation deteriorates
Solution Approach 1:
Multiple separate controls for each joint are merged into a single control interface grip. The grip integrates control of all robotic arm joints into one unified interface, maintaining precision through coordinated control of all joints while dramatically improving ease of operation by eliminating the need for operators to manage multiple separate controls
3Speed
If conventional UGVs are used in cluttered environments, then mobility is maintained, but navigation capability deteriorates
Solution Approach 1:
The robotic system is segmented into two distinct arms with different capabilities: a macro robotic arm for general positioning and navigation in cluttered environments, and a micro robotic arm for precise manipulation. This segmentation allows each component to be optimized for its specific function, maintaining mobility while improving navigation capability in complex environments
Data Source
AI summary
A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip.