Hyper-Redundant Probe Guidance Using Known Constrained-Space Geometry
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Solution Overview
Problem
Hyper-redundant manipulators used for inspecting complex machines like gas turbine engines face computational complexity in navigating constrained spaces due to the need for numerous inverse kinematic calculations, making real-time tip-following processes inefficient and inaccurate.
Innovation Solution
A method and probe system that utilize the known geometric characteristics of the space to minimize the weighted sum of deviations between the probe's segments and a predetermined curve, allowing for real-time adjustment of segment orientations to advance the distal end along the desired path, reducing computational complexity and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If tip-following navigation is used for hyper-redundant manipulators, then the probe can navigate constrained spaces, but the computational complexity increases due to numerous inverse kinematic calculations
Solution Approach 1:
The patent pre-calculates and stores optimal paths through the constrained space before probe insertion. During actual navigation, the probe simply follows the pre-determined path coordinates, avoiding real-time inverse kinematic calculations while maintaining accurate navigation capability
Solution Approach 2:
The patent creates a digital model or representation of the constrained space geometry and uses this copied information to plan paths virtually before execution, eliminating the need for complex real-time computational adjustments during actual probe navigation
2Speed
If optimized tip-following algorithms are used, then real-time movement can be achieved, but the process remains computationally complex and requires considerable computing resources
Solution Approach 1:
Path planning and optimization are performed before probe insertion using powerful computing resources. During real-time operation, only simple coordinate following is required, achieving fast movement with minimal computing resources
Solution Approach 2:
The navigation process is divided into periodic phases: pre-computation phase (offline path planning) and execution phase (simple coordinate following). This separation allows complex calculations to be performed when computing resources are available, while real-time operation remains computationally light
3Adaptability or versatility
If hyper-redundant manipulators with large number of degrees of freedom are used, then flexibility and ability to reach any destination is improved, but control of motion becomes very difficult
Solution Approach 1:
The manipulator's complex degrees of freedom are automatically managed by the pre-computed path following algorithm. The system self-adjusts the configuration of multiple segments to follow the desired path without requiring complex real-time control interventions, making operation straightforward despite mechanical complexity
Data Source
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AI summary
The present invention provides 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.