Robot GUI Pose Preview for Collision-Safe Remote Control
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Solution Overview
Problem
Operators of remotely located robots lack effective feedback mechanisms to ensure valid robot poses and avoid collisions, leading to potential damage to the robot and its surroundings.
Innovation Solution
A graphical user interface (GUI) provides real-time visualizations of valid and invalid robot poses and trajectories, incorporating boundary illustrations and collision detections, along with haptic feedback to guide operators in safe robot operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator remotely operates the robot without visual confirmation of valid poses, then the operator can issue commands freely, but the robot may execute invalid poses or collisions causing damage
Solution Approach 1:
The system provides real-time visual feedback by displaying a graphical representation of the robot's current pose and previewing target poses on the GUI. The boundary illustration shows the valid workspace, and the system modifies visual characteristics to indicate whether a target pose is valid or invalid, enabling the operator to make informed control decisions without trial-and-error attempts
Solution Approach 2:
The system performs preliminary validation by calculating and displaying the boundary illustration representing the valid workspace before the robot executes any movement. The preview mechanism allows the operator to see potential target poses and their validity status before actually commanding the robot to move, preventing invalid poses in advance
2Reliability
If the system provides detailed visual feedback about valid poses and boundaries, then the operator can avoid collisions, but the GUI complexity and information processing increase
Solution Approach 1:
The system uses visual characteristic modifications including color changes and transparency adjustments of the robot graphical representation and boundary illustration to convey validity information. Valid poses and boundaries are displayed with one set of visual characteristics, while invalid poses are distinguished through modified characteristics, providing intuitive collision avoidance information without requiring complex data displays
Solution Approach 2:
The system creates a graphical copy or virtual representation of the robot and its workspace boundaries on the GUI. This virtual model includes the robot's current pose, the valid workspace boundary, and previewed target poses, allowing the operator to interact with the simulation before commanding actual robot movements
Data Source
AI summary
An example method for providing a graphical user interface (GUI) of a computing device includes receiving an input indicating a target pose of the robot, providing for display on the GUI of the computing device a transparent representation of the robot as a preview of the target pose in combination with the textured model of the robot indicating the current state of the robot, generating a boundary illustration on the GUI representative of a limit of a range of motion of the robot, based on the target pose extending the robot beyond the boundary illustration, modifying characteristics of the transparent representation of the robot and of the boundary illustration on the GUI to inform of an invalid pose, and based on the target pose being a valid pose, sending instructions to the robot causing the robot to perform the target pose.