End Effector Installation Detection Using Effort Test Moves
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Solution Overview
Problem
Existing robotic manipulation systems face challenges in ensuring proper installation of end effectors and their components, which can lead to incorrect manipulation, damage to objects, or procedural delays due to misalignment or improper installation.
Innovation Solution
A method for self-checking the installation status of end effectors and their components using a control logic circuitry that monitors effort information during test moves, comparing it with predefined profiles to ensure correct installation before allowing operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual installation of end effectors is performed without automated detection, then installation speed is maintained, but installation accuracy and reliability deteriorate leading to potential damage or procedural delays
Solution Approach 1:
The system performs self-diagnosis by automatically detecting end effector installation status through effort information monitoring during test moves, eliminating the need for external manual verification and reducing operational complexity
Solution Approach 2:
The system implements closed-loop feedback by monitoring effort information from transducers during test moves, comparing actual effort profiles against expected profiles, and providing installation status feedback to confirm correct end effector installation before allowing operation
2Reliability
If automated detection systems are implemented to verify end effector installation, then installation reliability improves, but system complexity and initial setup time increase
Solution Approach 1:
The system replaces complex mechanical alignment verification methods with electronic sensing using transducers that measure effort information, simplifying the detection process while improving measurement accuracy and reliability
Solution Approach 2:
The system detects installation status by monitoring changes in effort parameters (torque, force) during test moves, using parameter analysis to determine whether the end effector is correctly installed without requiring complex geometric measurements
3Object-affected harmful factors
If test moves are performed to verify end effector installation, then operational safety improves, but procedure time increases
Solution Approach 1:
The system performs installation verification through test moves before the end effector is used for actual manipulation tasks, identifying and correcting installation issues in advance to prevent damage during critical operations
Solution Approach 2:
The system uses rapid test moves with automated profile comparison to quickly verify installation status, minimizing the time added to the procedure while ensuring safety through comprehensive effort information monitoring
Data Source
Figure 1A
Figure 1B
Figure 2~3
AI summary
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the end effector using the first effort information of the first test move.