Robotic Manipulator Vibration Cancellation Using Joint Velocity Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic manipulators experience undesirable vibrations, particularly in systems with greater physical compliance, leading to difficulties in achieving commanded trajectories and affecting system performance, especially in medical procedures where vibrations can cause the remote center of motion to move beyond tolerance amounts.
Innovation Solution
A robotic system with a processing unit that receives sensor measurement data to generate joint velocity estimates and apply cancellation forces based on vibration cancellation states, using active vibration cancellation techniques to mitigate vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic manipulators with greater physical compliance are used, then the system can achieve better adaptability and versatility in medical procedures, but the manipulators become more prone to under-damped vibrations with larger magnitudes
Solution Approach 1:
The patent implements active vibration cancellation using feedback from sensors (accelerometers, gyroscopes, force sensors) that detect vibrations in real-time. The control system processes this feedback signal and generates counteracting forces through actuators to cancel the detected vibrations, allowing compliant manipulators to maintain stability during medical procedures
Solution Approach 2:
The system dynamically changes control parameters based on detected vibration characteristics. The control system adjusts cancellation forces by modifying gain parameters, filtering frequencies, and actuator command signals in response to varying vibration conditions, enabling the manipulator to maintain optimal performance across different operational states
2Stability of the object's composition
If active vibration cancellation is applied continuously, then vibration suppression is improved, but the device complexity and computational requirements increase
Solution Approach 1:
The patent applies vibration cancellation selectively rather than continuously. The control system determines when cancellation is needed based on detected vibration levels and applies suppression only during periods when vibrations exceed thresholds, reducing computational burden while maintaining effective vibration control during critical operations
Solution Approach 2:
The control system is divided into separate functional modules: sensor signal processing, vibration detection and characterization, cancellation force calculation, and actuator control. This modular segmentation allows each component to be optimized independently and simplifies the overall system architecture and implementation
Data Source
AI summary
A robotic system includes a robotic manipulator, which includes a first joint and a link connected to the first joint. A processing unit including one or more processors is configured to receive sensor measurement data of the link from a sensor system, and generate, based on the sensor measurement data, a first joint velocity estimate of the first joint. A first vibration cancellation state for the first joint is determined based on one or more cancellation conditions of one or more of joints of the robotic manipulator. In response to the first vibration cancellation state indicating enablement of vibration cancellation for the first joint, a first cancellation force is applied to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint.