Manipulator Path Control Using a Virtual Interference Contour
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Solution Overview
Problem
Current manipulator control methods require significant expert knowledge and are complex, especially when dealing with multiple degrees of freedom and obstacles, as they often rely on specifying manipulator poses and interference contours to avoid collisions, which is not optimally utilized for specifying manipulator tasks.
Innovation Solution
The introduction of a virtual interference contour that the manipulator follows automatically, allowing for simpler and more intuitive specification of complex tasks by defining a virtual funnel with its tip at the desired end position, which can be dynamically changed and specified using sensors, enabling the manipulator to avoid collisions and complete tasks without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manipulator poses are specified by the user and approached by the manipulator control, then the manipulator can complete tasks with specified positions and orientations, but the control becomes very complex and requires considerable expert knowledge, especially in the case of several degrees of freedom and other boundary conditions
Solution Approach 1:
The patent introduces a virtual interference contour as an intermediary between the user and the manipulator control system. Instead of directly specifying complex manipulator poses with multiple degrees of freedom, the user defines a virtual interference contour that automatically guides the manipulator to the desired end position and orientation. This intermediary simplifies the control process while maintaining precision.
Solution Approach 2:
The manipulator control system automatically generates the motion plan by itself based on the virtual interference contour. The system uses its own collision procedure to determine how to approach the target pose while avoiding obstacles, eliminating the need for users to manually plan complex trajectories with multiple degrees of freedom.
2Reliability
If real objects in the vicinity of the manipulator are sensed and depicted as disturbance on a map, then collision with static objects can be prevented, but this is not optimally used for specifying manipulator tasks and does not enable intuitive task specification
Solution Approach 1:
Instead of using the collision procedure only to avoid obstacles (defensive approach), the patent inverts its use by employing the virtual interference contour to actively guide the manipulator toward the target. The same collision avoidance mechanism becomes a task specification tool, allowing intuitive definition of desired trajectories while maintaining safety.
Solution Approach 2:
The virtual interference contour serves multiple functions simultaneously: it acts as both a collision avoidance boundary and a task specification guide. This multi-functionality allows the system to prevent collisions while enabling intuitive task specification, eliminating the need for separate obstacle avoidance and task planning systems.
3Reliability
If virtual boundaries are specified to prevent user from leading the manipulator to a limit of the work space, then the manipulator is protected from exceeding workspace limits, but this approach does not provide automatic task completion and requires continuous manual control
Solution Approach 1:
The virtual interference contour is pre-defined to include the desired trajectory and end position within the workspace boundaries. By establishing this contour in advance, the manipulator automatically follows the planned path to complete the task without requiring continuous manual control, while still being protected from exceeding workspace limits.
Data Source
Figure 1~2
AI summary
The method involves presetting (S1) a virtual interference contour corresponding to a manipulator task, particularly a travel path, and automatic controlling (S3) of the manipulator corresponding to the virtual interference contour. The manipulator is directed or is controlled along the interference contour. The interference contour is approached (S2) dynamically or partially automated. Independent claims are also included for the following: (1) a controller for controlling a manipulator, particularly a robot; and (2) a computer program product comprises a program code.