Robotic Control Modification Modules for Hazardous Environment Safety
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Solution Overview
Problem
Existing robotic systems for tasks like Improvised Explosive Device Disposal (IEDD) are limited by primitive controls and limited data processing, which restrict their application and effectiveness in hazardous environments.
Innovation Solution
A robotic system with an input module, storage module, processing module, and control modification modules that receive input signals, generate control commands, and adjust operations to comply with operational parameters, ensuring safe and effective execution of tasks by managing compliance with set parameters, avoiding collisions, and handling singularity thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If remote-controlled robotic systems are used for hazardous tasks, then human safety is improved, but control precision and operational effectiveness deteriorate due to primitive controls and limited data processing
Solution Approach 1:
The robotic system is divided into multiple independent modules including input module, storage module, processing module, and control modification modules. Each module handles specific functions separately, allowing complex control tasks to be broken down into manageable segments that can be processed independently and combined for precise overall control.
Solution Approach 2:
Control modification modules act as intermediaries between the primary control device and secondary devices. These modules receive control commands, modify them based on operational parameters and sensor data, and generate adjusted commands that improve control precision while maintaining safe remote operation.
2Reliability
If remote-controlled robotic systems are used for hazardous tasks, then human safety is improved, but operational effectiveness deteriorates due to limited data processing capabilities
Solution Approach 1:
The storage module stores operational parameters and control profiles in advance before tasks are executed. This preliminary preparation allows the processing module to quickly retrieve and apply appropriate parameters during operation, enhancing data processing efficiency and operational effectiveness without compromising safety.
Solution Approach 2:
The system continuously processes sensor data from secondary devices and adjusts control commands in real-time through control modification modules. This continuous data processing and adaptive control maintains high operational effectiveness throughout the task execution while ensuring safe remote operation.
3Ease of operation
If multiple control modification modules are added to manage compliance with operational parameters, then control precision is improved, but device complexity increases
Solution Approach 1:
Control modification modules are designed with multi-functionality to handle various control tasks including collision avoidance, singularity threshold management, and compliance verification. This universal design allows a single module structure to perform multiple functions, reducing overall system complexity despite the addition of multiple modules.
Solution Approach 2:
Control modification modules are nested within the existing robotic system architecture, with each module containing specialized sub-functions. This nested structure allows complex control capabilities to be organized in a hierarchical manner, where smaller functional units are contained within larger modular structures, managing complexity through organized nesting.
Data Source
AI summary
Methods and systems are provided for operating various robotic systems. The methods and systems involve applications of platforms that enable multiple-input teleoperation and a high degree of immersiveness for the user. The robotic systems may include multiple arms for manipulators and retrieving information from the environment and/or the robotic system. The robotic methods may include control modification modules for detecting that an operation of a robotic device based on the control commands fails to comply with one or more operational parameters; identifying the non-compliant control command; and generating a modifier for the secondary device to adjust the non-compliant control command to comply with the set of operational parameters.