Networked Multi-DOF Robot Control for Safe Task Autonomy
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Solution Overview
Problem
Existing robotic systems lack versatility and autonomy, limiting their ability to perform a wide range of tasks efficiently and safely in various environments and applications.
Innovation Solution
Robots equipped with multiple degrees of freedom, sensors, and varying levels of autonomy, enabling them to interact with environments and perform tasks through teleoperation or full autonomy, and managed by a networked system that allows entities to control and monitor their operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robots are equipped with multiple degrees of freedom and sensors to enhance task performance capability, then the robot's versatility and adaptability improve, but the device complexity increases
Solution Approach 1:
The robotic system is designed with multiple degrees of freedom (6 or more) and various sensors that enable the same robot to perform multiple different tasks across diverse environments. The robotic arm can be configured for different operations through its multi-DOF architecture, allowing one system to serve multiple functions rather than requiring separate specialized robots for each task type.
Solution Approach 2:
The patent describes a hierarchical system architecture where the robot comprises nested components: the mobile base contains the robotic arm, which contains sensors and actuators. This nested structure allows complex functionality to be achieved through organized subsystems, where each level contributes specific capabilities while building upon the foundation of lower levels.
2Productivity
If robots operate with full autonomy to improve efficiency and reduce human intervention, then productivity increases, but the reliability and safety risks may worsen due to potential autonomous decision-making errors
Solution Approach 1:
The robotic system implements dynamic control modes that can switch between full autonomy and teleoperation. The system is not fixed in one operational state but can adapt its level of autonomy based on task requirements, environmental conditions, and safety considerations. This dynamic flexibility allows the system to maximize productivity when safe to do so while maintaining reliability by reverting to human control when needed.
Solution Approach 2:
The robot is equipped with sensors that continuously monitor the environment and system state, providing feedback to both autonomous control algorithms and remote operators. This feedback mechanism enables the system to detect potential safety issues, adjust autonomous behavior accordingly, and allow human operators to intervene when necessary, thus maintaining both productivity and reliability.
3Adaptability or versatility
If robots are designed with six or more degrees of freedom to perform complex tasks, then the adaptability improves, but the ease of operation and control difficulty worsen
Solution Approach 1:
The patent introduces a remote operator as an intermediary between the complex robotic system and the ultimate user goals. The operator receives simplified task specifications and translates them into coordinated commands for the multiple degrees of freedom. This intermediary layer shields the user from the complexity of controlling six or more independent joint movements while still achieving complex task execution.
Solution Approach 2:
The system replaces direct mechanical control of multiple degrees of freedom with electronic and software-based control mechanisms. Sensors, processors, and control algorithms substitute for manual mechanical adjustment, enabling complex multi-DOF coordination through computational methods rather than direct mechanical manipulation, thus improving ease of operation.
Data Source
AI summary
Systems and methods that allow robots to perform tasks for users are provided. A robot may comprise one or more robotic arms and/or a mobile base. The arms may be controlled by electric actuators and may have six or more degrees of freedom. The robot may have sensors which can be accessed remotely. Robots may have varying levels of autonomy, including, for example, full teleoperation (in which a human can have detailed control over the robot) or full autonomy (in which the robot can complete a task without any human intervention). Various entities can interact with individual robots or groups of robots over a network, locally, directly or in person, or any combination thereof. A management system can allow entities to control and/or monitor the robots.