End Effector Installation Checks Using Jaw Effort Profiles
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Solution Overview
Problem
In robotic manipulation systems, improper installation of end effectors can lead to incorrect manipulation, damage to objects, or procedural delays, highlighting the need for a reliable method to verify correct installation before use.
Innovation Solution
A method involving a processor-controlled test move of the end effector's moveable jaw to collect effort information, comparing it to predefined profiles to determine the installation status, ensuring proper alignment and operation of the end effector within the manipulation system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual installation verification is performed, then installation correctness can be confirmed, but time is lost and human error may occur
Solution Approach 1:
The system performs self-verification by automatically executing test moves and analyzing effort information without requiring external manual inspection. The robotic system tests its own end effector installation status through automated feedback mechanisms, eliminating the need for human verification while maintaining high reliability.
Solution Approach 2:
The system implements automated feedback loops where effort information from transducers during test moves is continuously monitored and analyzed. This feedback mechanism automatically determines installation status and can trigger alerts or corrections, providing rapid verification without manual intervention and significantly reducing verification time.
2Productivity
If automated test moves are performed, then installation status is quickly determined, but system complexity increases
Solution Approach 1:
The control system integrates multiple functions into a single automated verification process. The same control system that operates the robotic manipulator also executes test moves, collects effort information, analyzes installation status, and provides feedback. This multi-functionality achieves rapid verification without proportionally increasing system complexity.
Solution Approach 2:
The patent introduces effort information from transducers as an intermediary measurement that simplifies the verification process. Rather than directly observing complex installation parameters, the system uses effort information during test moves as a mediator to indirectly but reliably determine installation status, reducing the complexity of direct measurement systems.
3Object-affected harmful factors
If improper installation is detected early, then damage is prevented, but additional detection mechanisms are required
Solution Approach 1:
The system performs preliminary verification through automated test moves before the robotic system begins its actual manipulation tasks. By executing these test moves and analyzing effort information in advance, the system detects improper installation early, preventing potential damage during operational use without requiring complex continuous monitoring mechanisms.
Solution Approach 2:
The robotic system uses its own operational components (motors, transducers, control systems) to perform self-detection during test moves. Rather than adding separate detection mechanisms, the system leverages its existing components to monitor installation status, preventing damage while avoiding additional complexity from dedicated detection hardware.
Data Source
AI summary
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. 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 of the end effector using the first effort information of the first test move.