Robotic Arm Path Planning for 3D Engine Constraints
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Solution Overview
Problem
Traditional methods for controlling robotic arms in gas turbine engines require incremental path determination, leading to difficulties in achieving task-based processes, especially in complex environments like gas turbine engines, necessitating improved control methodologies.
Innovation Solution
A method for controlling a robotic arm assembly through an environment involves determining the position and orientation of the base and utility member, as well as the three-dimensional constraints of the environment, to plan a path that accounts for the arm's operability limitations, using techniques like tip-following sequences and interpolation for transitional movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If incremental path determination is used for controlling robotic arms, then the robotic arm can navigate through the environment, but it becomes difficult to achieve task-based processes
Solution Approach 1:
The system performs preliminary actions by determining the complete path for the robotic arm before execution. The controller calculates the entire trajectory from the current position to the target position, considering all constraints and operability limitations in advance, rather than determining positions incrementally during movement. This enables task-based processes to be achieved efficiently.
2Ease of manufacture
If the robotic arm is used to inspect and repair components in the gas turbine engine, then disassembly is avoided, but the control difficulty increases due to the complex environment
Solution Approach 1:
The system applies local quality by determining the path based on specific local conditions within the gas turbine engine environment. The controller considers three-dimensional constraints and operability limitations at different locations within the engine, adjusting the path accordingly to navigate through the complex internal structure while maintaining ease of inspection and repair access.
3Measurement precision
If the path is determined based on base position and task position, then the robotic arm can reach the target, but the operability limitations of the arm are not considered
Solution Approach 1:
The system implements feedback by continuously considering the operability limitations of the robotic arm when determining the path. The controller uses the determined path to guide the arm while monitoring that all joint limitations and geometric constraints are satisfied throughout the movement, ensuring both positioning accuracy and reliability.
Data Source
AI summary
A robotic arm assembly includes a robotic arm, a base, and a utility member, the robotic arm extending between a root end attached to the base and a distal end including the utility member. A method for controlling the robotic arm assembly includes: determining a position of the base, the root end, or both relative to the environment; determining a task position and orientation for the utility member within the environment; determining a three-dimensional constraint of the environment; and determining a path for the robotic arm through the environment based on each of the position of the base, the root end, or both relative to the environment, the task position and orientation for the utility member within the environment, and the three-dimensional constraint of the environment.