Integrated Mobile Manipulator Mass Estimation in Motion
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Solution Overview
Problem
Existing mobile manipulator robots are poorly integrated, leading to inefficient and inflexible operation in warehouse and logistics environments, with limitations in performing complex or dynamic motions and accurate mass estimation of payloads.
Innovation Solution
A highly integrated mobile manipulator robot with system-level mechanical design and holistic control strategies between the manipulator and the mobile base, capable of dynamic mass estimation of payloads by determining accelerations and sensing wrenches while the payload is in motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot stops moving to estimate payload mass, then measurement precision is improved, but productivity deteriorates
Solution Approach 1:
The patent implements dynamic mass estimation that operates during robot motion rather than requiring static conditions. The system continuously estimates payload mass characteristics while the manipulator is moving, transforming the measurement process from a static to dynamic operation. This allows the robot to maintain productivity while obtaining accurate mass information through real-time sensing and computation during motion.
Solution Approach 2:
The mass estimation process occurs continuously during robot operation without interruption. The system maintains continuous sensing of wrench data and continuous computation of mass characteristics, eliminating the need to pause the robot's useful work. This continuous operation ensures both high productivity and accurate measurement through ongoing data collection and processing.
2Productivity
If the robot performs complex dynamic motions, then productivity is improved, but measurement precision deteriorates
Solution Approach 1:
The system employs feedback mechanisms where wrench sensor data collected during dynamic motion is continuously processed to update mass estimates. The control system uses this feedback information to compensate for motion-induced variations and maintain measurement accuracy even during complex movements. The feedback loop allows the system to adapt to changing dynamic conditions in real-time.
Solution Approach 2:
The patent replaces traditional mechanical weighing mechanisms with sensor-based wrench measurement and computational estimation. Instead of using physical scales or load cells that require static conditions, the system uses force/torque sensors combined with dynamic models and algorithms to estimate mass characteristics during motion, substituting mechanical measurement with a sensing-computation approach.
3Adaptability or versatility
If the robot is highly integrated with holistic control, then adaptability is improved, but device complexity increases
Solution Approach 1:
The holistic control system serves multiple functions: it coordinates the mobile base and manipulator, performs dynamic mass estimation, plans trajectories, and executes control commands. By making the control system universal and multi-functional, the patent achieves high integration and adaptability without proportionally increasing complexity, as the same control architecture handles diverse tasks through modular approaches.
Solution Approach 2:
The system introduces intermediate computational layers that mediate between sensors and actuators. These intermediate processing stages include dynamic models, estimation algorithms, and trajectory planners that bridge the mobile base and manipulator subsystems. The intermediaries organize the complexity into manageable functional blocks while enabling sophisticated coordinated control and mass estimation capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot to perform complex and dynamic motions with increased speed and efficiency, allowing for accurate estimation of payload mass characteristics in real-time without requiring the robot to stop moving.
Implementation Method 1
sensing the wrench using a 6-axis force/torque sensor
Implementation Method 2
determining one or more accelerations of the payload while the payload is in motion
Data Source
AI summary
A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.