Robotic Arm Haptic Gesture Control Without Separate Input Devices
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Solution Overview
Problem
Current robotic systems require operators to frequently switch between guiding the robotic arm and using separate input devices for programming and parameterization, leading to cumbersome interactions and potential safety hazards due to the need to focus on both tasks simultaneously.
Innovation Solution
A robotic system equipped with a control unit and sensor system that responds to predetermined haptic gestures, allowing operators to perform operations and control the robotic arm through deliberate forces, moments, and torques, with feedback mechanisms for confirmation and orientation, effectively using existing sensors for enhanced interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If separate input devices are used for programming and parameterization, then the robotic system can perform operations, but the operator must repeatedly switch between robot guidance and input device actuation, leading to cumbersome interaction and safety hazards
Solution Approach 1:
The patent combines the robotic arm with input device functionality by enabling the robotic arm itself to serve as the input device through haptic gesture recognition. The sensor system integrated in the robotic arm detects forces, moments, and torques applied by the operator, eliminating the need for separate input devices and reducing the frequency of switching between guidance and control operations.
Solution Approach 2:
The robotic arm is designed to perform multiple functions: it serves both as the manipulator for positioning the end effector and as an input device for programming and parameterization. The same robotic arm structure and integrated sensors are used for both guidance operations and control input, allowing the operator to perform all interactions through a single interface.
2Reliability
If the operator focuses on separate input devices for programming, then operations can be controlled, but the operator must let the potentially moving robot out of sight, creating safety hazards
Solution Approach 1:
By merging the control input functionality into the robotic arm itself, the operator maintains continuous visual contact with the robot while performing programming and parameterization tasks. The haptic gestures are applied directly to the robotic arm, which is always visible to the operator, eliminating the safety hazard of losing sight of the moving robot during control operations.
3Adaptability or versatility
If existing force and torque sensors are used only for position control and trajectory control, then the system maintains simplicity, but the interaction between humans and robotic system remains limited
Solution Approach 1:
The existing force and torque sensors in the robotic arm are made multi-functional by programming the control unit to interpret these sensor signals both for traditional position/trajectory control and for recognizing haptic gestures intended as control inputs. This software-based approach enables expanded interaction capabilities without adding new hardware sensors or significantly increasing system complexity.
Solution Approach 2:
The robotic arm's existing sensor system serves itself by detecting not only forces relevant to position control but also deliberate haptic gestures from the operator. The same sensor infrastructure is utilized for dual purposes: maintaining position control during operation and detecting operator intent for programming and parameterization through gesture recognition.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution simplifies the operation of robotic systems by enabling haptic control for various interactions, reducing setup times and minimizing costs, while enhancing safety by allowing immediate responses to emergencies without needing to access separate switches.
Implementation Method 1
integrated force and torque sensors, which can be used according to the invention and accordingly also adapted to receive the external forces, moments and torques acting by the haptic gestures of an operator on the robotic arm
Implementation Method 2
integrated force and torque sensors, which can be used according to the invention and accordingly also adapted to receive the external forces, moments and torques acting by the haptic gestures of an operator on the robotic arm
Data Source
AI summary
The present invention relates to a robotic system having at least one robotic arm, a control unit for controlling the robotic arm and a robotic arm sensor system, wherein the controller and robotic arm sensor system are designed to respond to predetermined haptic gestures of the user acting on the robotic arm in such a way that the robotic system performs at least one predetermined operation associated with the haptic gesture.