Robot End-Effector Impedance Control for Constrained Manipulation
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Solution Overview
Problem
Robotic arms face challenges in efficiently manipulating constrained objects in restricted environments without requiring extensive computations for arm path planning.
Innovation Solution
A computer-implemented method that uses an articulated arm with an end effector to receive measured task parameter sets, determine axes of freedom and constrained axes, assign impedance values, and instruct the arm to move along the axes of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional path planning methods are used for robotic arms in constrained environments, then the arm can manipulate objects, but extensive computations are required which reduces efficiency
Solution Approach 1:
The patent transforms the path planning problem from a complex computational task to a simpler measurement task by changing the control parameters. Instead of computing full arm trajectories, the system measures task parameters (position, orientation, velocity, acceleration) of the end effector directly and uses these measurements to control the arm, significantly reducing computational requirements while maintaining manipulation efficiency
Solution Approach 2:
The patent replaces the traditional mechanical control approach (computing joint angles and trajectories) with a measurement-based control approach. By using sensors to directly measure task parameters and feed them back to the controller, the system eliminates extensive path planning computations while achieving efficient manipulation of constrained objects
Data Source
AI summary
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.