Multi-Arm Robot Motion Control for Synchronous End Pose Coordination
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Solution Overview
Problem
Surgical robots face challenges with motion arm instability and collisions, particularly in single-incision surgeries, due to their large size and heavy weight, making adjustments complex and time-consuming.
Innovation Solution
A control method for a robot system that includes determining a motion mode for the ends of multiple motion arms, calculating their respective motion paths based on the motion mode and relative end pose relationships, and controlling the motion arms to move synchronously while maintaining the relative end pose relationship.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the motion arm is made large and heavy to achieve higher stability and precision, then the stability and precision are improved, but the risk of collisions increases and the adjustment becomes more complex and time-consuming
Solution Approach 1:
The system employs automated control algorithms that enable the motion arms to self-adjust and self-coordinate without requiring manual intervention. The control apparatus automatically calculates motion paths and synchronizes multiple arms, making the system self-sufficient in managing its own complexity and adjustment needs.
Solution Approach 2:
The system dynamically adjusts motion parameters such as speed, position, and synchronization timing through automated control. By changing these parameters programmatically rather than through manual mechanical adjustment, the system maintains high stability and precision while reducing adjustment complexity and time.
2Reliability
If the motion arm is made large and heavy to achieve higher stability and precision, then the stability and precision are improved, but the risk of collisions increases
Solution Approach 1:
The system implements real-time feedback control where the control apparatus continuously monitors the position and motion state of multiple motion arms. Based on this feedback, the system dynamically adjusts motion paths and speeds to prevent collisions, allowing the use of larger, heavier arms for stability without increasing collision risk.
Solution Approach 2:
The control apparatus pre-calculates motion paths and potential collision points before executing movements. By planning trajectories in advance and identifying potential conflict zones, the system can prevent collisions before they occur, enabling the use of more substantial motion arms for improved stability and precision.
3Measurement precision
If manual adjustment of the motion arm is performed to achieve proper positioning, then the positioning accuracy is improved, but the adjustment process becomes more time-consuming
Solution Approach 1:
The system replaces manual mechanical adjustment with automated computational control. The control apparatus uses algorithms to calculate precise motion paths and coordinates, then automatically executes these paths through electronic control of the motion arms. This substitution of mechanical manual adjustment with automated electronic control achieves high positioning accuracy while dramatically reducing the time required for adjustment.
Data Source
AI summary
A control method for a robot system is provided. The robot system includes a plurality of motion arms, and the plurality of motion arms include a first motion arm and a second motion arm. The control method includes: determining a motion mode of ends of the first motion arm and the second motion arm of the robot system, where the motion mode includes synchronous motion of the ends of the first motion arm and the second motion arm; determining motion paths of the first motion arm and the second motion arm based on the motion mode and a relative end pose relationship between the first motion arm and the second motion arm; and controlling, based on the corresponding motion paths, the first motion arm and the second motion arm to move.