Robot Arm Collision Avoidance via Centralized Controller
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Solution Overview
Problem
Existing robotic systems face challenges in automatically avoiding collisions between independently operated robot arms, especially when there is limited communication or confusion between controllers, leading to potential damage and obstruction during concurrent operation.
Innovation Solution
A robotic system and method that utilize a controller to determine the position and orientation of a manipulatable device relative to an image capturing device's reference frame, and then use joint position information to avoid collisions by commanding appropriate actions to prevent imminent collisions between robot arms, allowing for concurrent operation without compromising task performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robot arms are operated independently without centralized coordination, then operational flexibility and ease of use are improved, but collision risk and system reliability deteriorate
Solution Approach 1:
The patent introduces a centralized controller as an intermediary that receives configuration data from independently operated robot arms and generates coordinated control commands. This mediator enables independent arms to operate concurrently while preventing collisions through centralized arbitration, resolving the contradiction between operational independence and collision safety.
Solution Approach 2:
The system implements feedback by continuously monitoring the configuration data (position, orientation, velocity) from each robot arm and using this information to generate real-time collision avoidance commands. The controller adjusts arm movements based on feedback about current and predicted configurations, ensuring safe concurrent operation while maintaining independent control capabilities.
2Adaptability or versatility
If multiple controllers are used for independent robot arm operation, then operational versatility is improved, but coordination complexity and communication requirements worsen
Solution Approach 1:
The patent merges the control functions of multiple independent controllers into a single centralized controller that manages all robot arms. This consolidation reduces coordination complexity by eliminating the need for inter-controller communication while maintaining the ability to operate arms concurrently, as the centralized controller handles all coordination decisions internally.
Solution Approach 2:
The centralized controller is designed with universal functionality to manage multiple robot arms with different configurations and tasks. It can simultaneously process configuration data from various arms, generate appropriate control commands for each, and coordinate their operations, providing versatile concurrent operation capability without requiring separate specialized controllers.
3Productivity
If robot arms operate in close proximity concurrently, then task efficiency and productivity are improved, but collision risk and potential damage worsen
Solution Approach 1:
The system performs preliminary collision detection by analyzing the predicted configurations and trajectories of robot arms before executing movements. The controller evaluates potential collision scenarios in advance and generates preventive control commands that steer arms away from hazardous configurations, enabling safe concurrent operation that maintains high productivity without compromising safety.
Solution Approach 2:
The patent implements preliminary anti-action by generating control commands that actively prevent collision before it can occur. The controller analyzes the dynamic configurations of concurrent arms and applies counteracting control actions that redirect arm movements away from potential collision paths, thereby protecting the arms from damage while allowing them to operate in close proximity for efficient task execution.
Data Source
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AI summary
A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.