Coordinated Multi-Tool Manipulator Motion With End Effector Compensation
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Solution Overview
Problem
Existing robotic systems face challenges in coordinating the movement of multiple tools supported by a drivable structure, where movement of the structure results in unintended motion of all tools, limiting their degrees of freedom and range of motion.
Innovation Solution
A robotic system with a manipulator assembly and processing system that determines and compensates for the simultaneous movement of multiple tools by calculating and executing coordinated movements of the drivable structure and individual tool joints, maintaining the state of each tool independently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple tools are supported by a drivable structure, then the system can perform multiple tasks simultaneously, but movement of the drivable structure causes unintended motion of all tools, limiting their degrees of freedom and range of motion
Solution Approach 1:
The control system continuously monitors the positions and orientations of all tools supported by the drivable structure, and dynamically adjusts the movement commands to compensate for unintended motions. This feedback mechanism allows the system to maintain precise control over each tool's degree of freedom despite the coupled movement of the shared drivable structure.
Solution Approach 2:
The system dynamically calculates and adjusts the movement parameters of the drivable structure based on the current configuration and task requirements of multiple tools. By making the coordination control adaptive and dynamic rather than static, the system can optimize the degrees of freedom for each tool in real-time while managing the complexity of coordinated movement.
2Ease of operation
If the drivable structure moves to reposition one tool, then that tool achieves the desired position, but all other tools supported by the structure also move, potentially disrupting their operational states
Solution Approach 1:
Before executing a movement command to reposition one tool, the control system pre-calculates the compensatory movements required for all other tools to maintain their operational states. This preliminary anti-action ensures that when the drivable structure moves, the net effect on each tool's operational position and orientation remains stable, preventing disruption to ongoing tasks.
Solution Approach 2:
The system performs preliminary coordination calculations to determine the sequence and magnitude of movements for all tools before actual repositioning occurs. This advance planning allows the drivable structure to move smoothly while each tool's final position and state are predetermined to maintain reliability and operational continuity.
3Reliability
If individual tool joints are actively moved to compensate for drivable structure motion, then tool state stability is maintained, but the system requires complex coordination control
Solution Approach 1:
The control system implements a universal coordination algorithm that can handle multiple tools with different degrees of freedom and operational requirements using a single integrated approach. This multi-functional control framework manages the compensation movements for all tools supported by the drivable structure through a unified system, reducing the need for separate complex control mechanisms for each tool.
Data Source
AI summary
A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only the drivable structure motion would cause motion of the first end effector simultaneously with motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator. The processing system is further configured to determine a movement of the second manipulator and the second tool that, when performed simultaneously with the drivable structure motion, would compensate for the motion of the second end effector.