Robotic Arm Path Planning with MR Gesture Coordinate Mapping

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Solution Overview

Problem

Traditional robotic arm operation requires manual configuration or programming by trained professionals, which is time-consuming and resource-intensive for ordinary individuals.

Innovation Solution

A method utilizing a mixed reality device and a computer system to generate a movement path for a robotic arm through coordinate transformations and user-defined gestures, allowing non-experts to control the robotic arm by wearing a mixed reality device and performing simple hand gestures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual configuration or programming is used to control the robotic arm, then the robotic arm can be precisely controlled, but it requires extensive training and significant human resources

Engineering Contradiction:

Improveease of robotic arm controlVSAvoidtraining time

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The patent introduces an MR device as an intermediary between the user and the robotic arm control system. The MR device captures hand images, performs coordinate transformations, and generates control instructions automatically, eliminating the need for users to manually program or configure the robotic arm while maintaining precise control capability

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If manual configuration or programming is used to control the robotic arm, then the robotic arm can be precisely controlled, but it demands significant human resources

Engineering Contradiction:

Improveease of robotic arm controlVSAvoidcomplexity of control system

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The control system performs self-service by automatically capturing hand images through the MR device, determining hand coordinates, performing coordinate transformations between different coordinate systems, and generating control instructions without requiring external programming or configuration by users

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the traditional mechanical programming approach with an image-based recognition system. The MR device captures hand images and uses computer vision algorithms to automatically determine hand coordinates and generate control instructions, substituting manual configuration with automated image processing

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Manufacturing precision

If traditional programming methods are used, then precise control paths can be generated, but the process is time-consuming

Engineering Contradiction:

Improveprecision of movement pathVSAvoidpath planning efficiency

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The system performs preliminary coordinate transformation setup by establishing transformation relationships between the MR device coordinate system, navigation coordinate system, and robotic arm base coordinate system in advance. This preliminary configuration enables rapid generation of precise control paths during actual operation without time-consuming programming

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12528187B2Method for planning a movement path for a robotic arm

Publication Date: 2026.01.20 NAT YANG MING CHIAO TUNG UNIV

AI summary

A method is provided for planning a movement path for a non-fixed end of a robotic arm. A mixed reality (MR) device is used to capture hand images of a user to obtain multiple target coordinate sets in an MR coordinate system. A computer device is used to convert the target coordinate sets into multiple path coordinate sets in a robot base coordinate system, and controls the non-fixed end of a robotic arm to move along a movement path as indicated by the path coordinate sets. A camera device is used to capture images of a base that the robotic arm is fixed to for conversion of the target coordinate sets into the path coordinate sets.