Coordinating Mobile Base and Articulating Arm Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems face challenges in coordinating complex tasks that require simultaneous motion of multiple elements, such as arms and mobile bases, due to computational intensity and limited user interface information.
Innovation Solution
The development of methods and systems that optimize a control vector to concurrently move a mobile base and an articulating arm by using a merit function, allowing for simultaneous transition from an initial to a desired state, with user input signals processed to generate control signals applied to actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control algorithms are used to coordinate simultaneous motion of multiple robotic elements, then task complexity increases, but computational intensity increases and control efficiency decreases
Solution Approach 1:
The control algorithm segments the coordination problem into independent sub-problems: (1) calculating desired velocities for each robotic element based on task requirements, (2) determining Jacobian matrices for each element, and (3) solving the velocity distribution independently for each element. This segmentation allows parallel computation and reduces overall computational intensity while maintaining the ability to handle complex coordinated tasks.
2Reliability
If control algorithms coordinate simultaneous motion of arms and mobile bases, then coordination capability improves, but control computation time increases
Solution Approach 1:
The system performs preliminary calculations of Jacobian matrices and desired velocities before actual motion execution. By pre-computing these parameters based on the current configuration and task requirements, the system reduces real-time computation time while ensuring accurate coordination between arms and mobile bases during actual operation.
3Ease of operation
If user interfaces provide comprehensive information for controlling robotic apparatus, then user control effectiveness improves, but interface complexity increases
Solution Approach 1:
The user interface provides different levels of information and control options based on the specific operational context and user needs. Critical coordination parameters and task-relevant information are displayed prominently, while less relevant details are minimized or hidden. This localized information presentation improves user control effectiveness without overwhelming the interface with unnecessary complexity.
Data Source
AI summary
Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.