Multi-Jointed Arm Initialization Without Positioning Member
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Solution Overview
Problem
Existing operation input devices for multi-jointed robots require a positioning member within their movement range for initialization, limiting the movement range and causing disturbances during operation input.
Innovation Solution
An operation input device with multi-jointed arms that includes a holding unit, detection unit, engagement unit, and initial value calculation unit, allowing for initialization without a positioning member by fixing the relative positional relationship between the arms' proximal ends and calculating initial joint values based on joint movement data acquired during engagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a positioning member (docking station) is provided within the movement range of the user interface for initialization, then the initialization can be performed by holding the distal end in the fixed position, but the movement range of the user interface is limited and the docking station enters the movement range causing disturbance during operation input
Solution Approach 1:
The patent removes the positioning member (docking station) from the movement range of the user interface. Instead of providing a fixed positioning structure within the movement range, the invention performs initialization by calculating initial values based on movement data acquired when the distal ends of multiple multi-jointed arms are engaged together, thereby extracting the positioning function from the physical movement space.
Solution Approach 2:
The patent introduces an engagement unit as an intermediary mechanism that connects the distal ends of multiple multi-jointed arms. This engagement unit serves as a mediator to establish fixed relative positional relationships without requiring a positioning member in the movement range, enabling initialization through collaborative positioning of multiple arms.
2Ease of operation
If a docking station is used for initialization, then the rest point and home position can be set to zero position, but the docking station enters the movement range and disturbs the movement of the input interface during operation input
Solution Approach 1:
The patent extracts the harmful effect of the docking station by removing it from the system. Instead of using a physical docking station that occupies space and causes movement disturbance, the invention performs initialization through computational methods using engagement data from multiple multi-jointed arms, eliminating the source of movement disturbance.
Solution Approach 2:
The system performs self-initialization by having multiple multi-jointed arms engage with each other and acquire movement data. The initialization is achieved through the arms' own movement and engagement, without requiring an external positioning member, thereby avoiding the harmful effects of such members on subsequent operations.
3Ease of manufacture
If an encoder that cannot detect absolute value is used to reduce cost, then the manufacturing cost is reduced, but the relationship between encoder output value and physical joint angle or joint length is indefinite requiring initialization
Solution Approach 1:
The system performs self-initialization by having multiple multi-jointed arms engage with each other and acquire movement data. The initialization is achieved through the arms' own movement and engagement, without requiring external positioning equipment or complex initialization procedures, thereby maintaining low manufacturing cost while managing the complexity of absolute value detection.
Solution Approach 2:
The engagement unit serves as an intermediary that enables the system to establish fixed relative positional relationships between multiple multi-jointed arms. This engagement mechanism provides the reference needed for initialization without requiring expensive absolute value encoders, allowing the use of simpler incremental encoders while still achieving accurate initialization through the engagement-based measurement approach.
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3A~3B
AI summary
An operation input device that has multi-jointed arms (3R, 3L) including: a holding unit that holds a rotational joint (5a) in a state in which the mutual relative positional relationship is fixed; a detection unit that detects a joint movement amount that represents the movement of the joint by the rotation angle or the translational displacement from an unknown initial joint value; engagement units (19R, 19L) that are provided in each of a right hand operation arm (14R) and a left hand operation arm (14L) serving as distal ends; a data acquisition unit that acquires a plurality of sets of joint movement amounts detected by the detection unit in a time series when engaging and moving the distal ends; and an initial value calculation unit that calculates the unknown initial joint value under the condition that the relative positional relationship is fixed via the engagement units (19R, 19L).