Robotic Arm Collision-Boundary Guidance for Saturated Movement
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Solution Overview
Problem
Existing robotic medical systems face challenges in controlling robotic arm movements to avoid collisions while maintaining motion control, as conventional methods that prevent collisions can compromise the system's motion control.
Innovation Solution
A robotic system that receives user input, determines potential collisions with a collision boundary, and guides the robotic arm to move along this boundary, adjusting its movement to avoid contact while adhering to various constraints such as velocity and angular thresholds, and providing haptic feedback to the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional collision prevention methods are used to block or halt robotic arm movement, then collision avoidance is improved, but motion control is compromised
Solution Approach 1:
The system dynamically adjusts the robotic arm's movement by guiding it along the collision boundary rather than simply blocking motion. The control system continuously calculates and updates the boundary-constrained trajectory, allowing the arm to move freely within safe zones while automatically redirecting it along the boundary when approaching collision risks, thus maintaining motion control while ensuring collision avoidance.
Solution Approach 2:
The collision boundary acts as an intermediary constraint between the robotic arm and obstacles. Instead of direct collision prevention that halts motion, the boundary serves as a virtual guide that redirects the arm's path, allowing continuous motion control while preventing harmful contact. This intermediary approach resolves the contradiction by providing a smooth transition path rather than abrupt stops.
2Reliability
If the robotic arm is constrained to avoid collision boundaries, then safety is improved, but movement flexibility is reduced
Solution Approach 1:
The system resolves the contradiction by adding a dimensional aspect to motion control - guiding the robotic arm along the collision boundary adds a constrained trajectory dimension that maintains safety while preserving flexibility. The boundary-guided motion allows the arm to adapt its path within the safe workspace, accessing various positions and orientations without compromising safety, thus maintaining movement flexibility through multi-dimensional path planning.
Data Source
AI summary
Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.