Robot Manipulator Control for Multi-End-Effector Switching
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic manipulator control systems lack flexibility in accommodating different end effector appliances with unique physical characteristics and constraints, leading to increased operational complexity, especially when quickly transitioning between various tasks or when multiple appliances are concurrently used, which can result in interference and require manual camera reconfiguration.
Innovation Solution
A control system that dynamically modifies its algorithm based on identified end effector appliances, calculating optimal joint velocities through constrained optimization to adjust the controlled end point's location and orientation, and automatically configures camera views to accommodate the installed appliances, minimizing operator intervention and interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional robotic manipulator control system is used, then the system structure is simple, but it lacks flexibility in accommodating different end effector appliances with unique physical characteristics and constraints
Solution Approach 1:
The control system dynamically modifies its control algorithm based on the identified end effector appliance. The control algorithm is updated in real-time to account for the specific physical characteristics and constraints of the installed appliance, enabling the system to adapt flexibly to different appliances without requiring hardware changes or manual reconfiguration.
Solution Approach 2:
The system uses identification information from the end effector appliance (such as appliance ID, type, and parameters) to feedback into the control system. This feedback mechanism allows the control system to automatically adjust its control algorithm and parameters based on the specific appliance installed, improving adaptability while maintaining system simplicity.
2Productivity
If manual control configuration is used for each end effector appliance, then the control system is simple, but the operational complexity increases when transitioning between various tasks
Solution Approach 1:
The end effector appliance automatically provides its identification information and parameters to the control system upon installation. The control system then automatically configures the appropriate control algorithm without requiring manual intervention from the operator. This self-service mechanism significantly reduces operational complexity and enables rapid task transitions.
Solution Approach 2:
The control system pre-stores multiple control algorithms corresponding to different types of end effector appliances. When an appliance is installed and identified, the system automatically selects and loads the appropriate pre-configured algorithm, eliminating the need for manual configuration during task transitions and improving productivity.
3Adaptability or versatility
If multiple end effector appliances are concurrently used, then the system versatility is improved, but interference between appliances increases
Solution Approach 1:
The control system applies different control parameters and algorithms to different end effector appliances based on their specific characteristics. Each appliance receives customized control treatment that accounts for its unique physical properties, constraints, and operational requirements, preventing interference while enabling concurrent operation of multiple diverse appliances.
4Loss of time
If camera reconfiguration is performed manually for each appliance, then the system is simple, but time is lost during reconfiguration
Solution Approach 1:
The system automatically configures camera views based on the identified end effector appliance. The control system receives appliance identification information and automatically adjusts camera parameters, angles, and active camera selection without requiring manual operator intervention. This automatic configuration eliminates time loss during appliance transitions.
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
Robotic manipulator arm has an end portion to which one or more end effector appliances can be operably mounted for performing one or more manipulator arm operations. A control system has access to a plurality of different end effector appliance parameter sets which are respectively associated with the plurality of different end effector appliances. A user interface facilitates identification to the control system of one or more of the different end effector appliances which are installed on the manipulator arm. The control system is responsive to the identification to modify a control algorithm.