Hyper-Redundant Probe Guidance for Real-Time Constrained Path Following
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Solution Overview
Problem
Existing methods for guiding hyper-redundant manipulators in complex, constrained spaces are computationally complex and struggle to complete necessary calculations at the required speed, even with optimization.
Innovation Solution
A method for guiding a hyper-redundant manipulator that utilizes the known geometric characteristics of the space, determining an initial point and bend, and repeatedly adjusting the orientation of segments to minimize deviation from a predetermined curve, allowing for real-time advancement of the probe.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If tip-following process is used to navigate hyper-redundant manipulators, then the probe can follow a desired path in real-time, but the computational complexity is very high and calculations cannot be completed at the required speed
Solution Approach 1:
The manipulator is divided into multiple segments with defined degrees of freedom. The control algorithm segments the path following task into discrete computational steps for each segment, allowing parallel or sequential processing that reduces overall computational complexity while maintaining real-time performance.
Solution Approach 2:
The invention changes the control parameters from full inverse kinematics calculations to simplified orientation adjustments based on predetermined curves. By parameterizing the path following in terms of segment orientations rather than full pose calculations, the computational burden is significantly reduced while maintaining accuracy.
2Productivity
If optimized tip-following process is used, then calculation speed improves, but computational complexity remains high and real-time movement is still difficult to achieve
Solution Approach 1:
The system pre-determines the desired path as a predetermined curve before execution. By pre-planning the trajectory and computing reference points in advance, the real-time control only needs to follow the pre-computed path, significantly reducing online computational requirements while maintaining productivity.
Solution Approach 2:
The invention replaces complex mechanical control calculations with a simplified mathematical model based on predetermined curves and segment orientations. This substitution of computational mechanics for traditional inverse kinematics reduces the computational resources needed while maintaining real-time movement capability.
3Adaptability or versatility
If hyper-redundant manipulator is used to access constrained spaces, then access to hard-to-reach areas is enabled, but control of motion becomes very difficult due to large number of degrees of freedom
Solution Approach 1:
The control approach changes from managing individual joint angles to controlling segment orientations relative to a predetermined path. This parameter transformation simplifies the control interface while maintaining the manipulator's ability to navigate complex constrained spaces through its hyper-redundant structure.
Solution Approach 2:
The predetermined curve acts as an intermediary between the operator's intent and the manipulator's complex motion. By defining a reference path that the manipulator follows, the system mediates the control task, converting simple path following into complex joint coordination automatically.
Data Source
AI summary
A techniques for improved guiding of hyper-redundant manipulator probes into a constrained space which make use of the known characteristics of the space into which the probe is being inserted to increase the efficiency of the computation of the path of the probe. Embodiments of the invention achieve this through an optimisation function which determined a new orientation which minimises the deviation between each of: a) the point on the probe where the probe starts to follow a defined curve within the constrained space and a predetermined initial point, and b) the distal end of the probe and said defined curve.