Weighted Joint-State Control for Robotic Manipulator Vibrations
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Solution Overview
Problem
Robotic manipulators used in medical procedures experience undesirable vibrations due to flexibility and mass inertia, leading to poor control and deviation from commanded trajectories, which affects the precision of medical procedures.
Innovation Solution
A robotic system with a serial chain of joints and links, equipped with a processing unit that receives data from sensors to generate joint state estimates and applies weights to control the joints, reducing vibrations and improving control precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic manipulator flexibility is increased to improve adaptability, then adaptability is improved, but vibrations are increased due to under-damped mechanical resonances
Solution Approach 1:
The control system uses sensor data from the robotic manipulator to generate joint state estimates and applies weighted feedback control to actively suppress vibrations. The system continuously monitors joint states and adjusts control inputs in real-time to counteract harmful vibrations while maintaining flexibility and adaptability for minimally invasive procedures.
2Strength
If link masses and inertias are increased to improve structural strength, then strength is improved, but mechanical resonances become less damped causing more vibrations
Solution Approach 1:
The control system compensates for the reduced damping of mechanical resonances by implementing active feedback control. Sensors monitor joint states and the controller applies corrective torques based on weighted joint state estimates, actively suppressing vibrations caused by under-damped resonances while maintaining the structural strength provided by larger link masses and inertias.
3Ease of operation
If robotic manipulator compliance is increased to improve ease of operation, then ease of operation is improved, but control precision deteriorates due to vibrations making it difficult to achieve commanded trajectories
Solution Approach 1:
The system reconciles compliance for ease of operation with control precision by implementing active vibration suppression through feedback control. The controller uses sensor measurements and weighted joint state estimates to actively counteract vibrations, enabling the compliant robotic manipulator to accurately track commanded trajectories while maintaining operator-friendly compliance during minimally invasive procedures.
Data Source
AI summary
A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.