6-DOF Manipulator Control Interface With Axis-Aligned Inputs
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Solution Overview
Problem
Existing manipulator operating devices are complex and often imprecise, making it difficult for inexperienced users to specify and execute desired translations and rotations, particularly due to unclear axis and direction associations.
Innovation Solution
A manually operable operating device with input arrangements aligned along orthogonal axes (x, y, z) that allow intuitive control of a manipulator's six degrees of freedom, featuring actuatable movement and rotation setting elements, a 6D sensor device, and a 3D inertial sensor for precise movement specification and orientation detection, enabling easy prediction and control of manipulator movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional operating devices are used to control manipulator movements, then the manipulator can be operated manually, but the device becomes complicated and movement specification becomes imprecise
Solution Approach 1:
The operating device is segmented into three independent input arrangements, each aligned with a specific spatial axis (x, y, or z). Each input arrangement independently controls one degree of freedom of the manipulator, dividing the complex six-degree-of-freedom control task into three simple, manageable components. This segmentation eliminates the need for complex coordinate transformations and makes the device intuitive to operate.
2Measurement precision
If traditional operating devices are used to control manipulator movements, then manual operation is possible, but movement specification becomes imprecise and unclear
Solution Approach 1:
The patent introduces an intermediary coordinate system that acts as a mediator between the operator's intuitive spatial understanding and the manipulator's six-degree-of-freedom movement space. The three input arrangements aligned with orthogonal axes provide this intermediary layer, allowing operators to specify movements naturally in terms of orthogonal directions without dealing with complex manipulator kinematics or coordinate transformations.
3Adaptability or versatility
If inexperienced users operate traditional manipulator control devices, then operation is possible, but it becomes particularly challenging due to unclear axis and direction associations
Solution Approach 1:
The patent employs visual differentiation (analogous to color changes) by aligning each input arrangement with a specific spatial axis and providing visual feedback that clearly indicates the associated movement direction. This visual coding system allows inexperienced users to immediately understand which input arrangement controls which axis and direction, eliminating the confusion that typically plagues manipulator control interfaces.
Data Source
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AI summary
The present invention relates to an operating device (1) for controlling or programming a manipulator (9) with six degrees of freedom that can be controlled independently from one another. The operating device (1) comprises three input arrangements (2x, 2y, 2z) which are each configured to specify a movement of the manipulator (9) along an x-axis or y-axis or z-axis of the manipulator (9) and to specify a rotation of the manipulator (9) about the x-axis or y-axis or z-axis of the manipulator (9). The three input arrangements (2x, 2y, 2z) are thereby respectively aligned along one of the three main axes of the operating device (1).