Manipulator Force Sensor Command Input via Merging

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Solution Overview

Problem

Existing methods for inputting commands into manipulator controllers require additional equipment and hinder operators due to the need for manual movement to operate keyboards, making the process cumbersome and prone to errors.

Innovation Solution

Direct command input via detected forces or movements on the manipulator, using force sensors to associate specific forces or movements with stored sequences, allowing for flexible and intuitive command entry without requiring physical movement of the manipulator.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a keyboard is used for command input, then commands can be entered, but additional equipment is required and operator convenience deteriorates

Engineering Contradiction:

Improvecommand input accuracyVSAvoidoperator convenience

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The patent merges the command input function with the manipulator's existing control interface by detecting forces applied to the manipulator body. This eliminates the need for a separate keyboard while maintaining reliable command input through the same principle used for position control.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The manipulator serves dual purposes: it performs its primary function of manipulating objects while simultaneously serving as the input device for commands. The force sensors already present for position control are repurposed to detect command-inputting forces, making the system self-sufficient.

Inventive Principle:

Principle #25Self-service

2Ease of operation

If manual movement is required to operate commands, then commands can be input, but the process becomes cumbersome and time-consuming

Engineering Contradiction:

Improvecommand input easeVSAvoidcommand input time

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The patent enables continuous command input during manipulator operation without interrupting the workflow. Operators can input commands by applying forces during normal manipulator handling, eliminating the need to stop and use a separate keyboard interface.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The patent replaces the mechanical keyboard interface with a force detection system that interprets applied forces as commands. This substitution eliminates the need for manual positioning and keyboard operation, reducing both time and operational complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If force detection is used for command input, then additional commands can be input without movement, but force detection complexity increases

Engineering Contradiction:

Improvecommand type flexibilityVSAvoidforce detection system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent makes the existing force sensors serve multiple functions: they detect both position control forces and command-inputting forces. This universal use of the same sensors increases command versatility without adding dedicated detection hardware.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent distinguishes between different types of forces based on their parameters (magnitude, direction, duration, sequence). By analyzing force parameters rather than adding hardware complexity, the system can recognize multiple command types from the same sensor infrastructure.

Inventive Principle:

Principle #35Parameter changes

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

Simplifies command input by enabling operators to input commands through forces or movements without moving the manipulator, providing feedback and reducing the risk of accidental inputs, thus enhancing operational efficiency and safety.

Implementation Method 1

Forces that an operator exerts on the manipulator in predetermined directions are detected (for example via force sensors)

Methodology Applied

Scientific EffectForce detection: Force

Data Source

PatentUS9063539B2Method and device for command input in a controller of a manipulator

Publication Date: 2015.06.23 KUKA LAB GMBH

AI summary

In a method and a device for entering control commands into a controller of a manipulator, such as a robot, a first force or movement or sequence of forces or movements is detected, and the detected force, movement or sequence is electronically compared with stored forces, movements or sequences, respectively. Each of the stored forces or movements or sequences has a control command associated therewith. Upon the comparison indicating a coincidence between the detected force or movement or sequence with one of the stored forces or movements or sequences, the control command associated with that one of the stored forces, stored movements or stored sequences is automatically supplied as an input to the controller for operating the manipulator.