Robotic Imaging Contact Localization and Reverse Trajectory Control
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Solution Overview
Problem
Challenges exist in avoiding physical contact between the components of robotic imaging systems and external objects or persons in the surroundings, which can lead to potential collisions and damage.
Innovation Solution
A robotic imaging system equipped with a camera, robotic arm, and sensors to detect force and torque, utilizing a controller to execute a contact management mode that determines contact locations and calculates a reverse trajectory to move the system away from external objects, incorporating a stereoscopic camera and six-degrees-of-freedom haptic force-sensing devices for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robotic arm is used to move head unit for imaging, then imaging efficiency and precision are improved, but risk of collision with external objects increases
Solution Approach 1:
The system performs preliminary actions by calculating a reverse trajectory before contact occurs. The controller determines the contact location based on sensor data and pre-calculates the path to move the body away from the contact location, preventing collision before it happens rather than reacting after contact is made
Solution Approach 2:
The system uses force sensors and torque sensors to continuously monitor the robotic arm's operation and provide feedback to the controller. When the sensors detect forces indicating potential contact with external objects, the controller receives this feedback and automatically executes the contact management mode to adjust the trajectory and avoid collision
2Measurement precision
If multiple sensors are added to detect contact, then collision detection accuracy is improved, but system complexity increases
Solution Approach 1:
The force sensor and torque sensor serve multiple functions within the system. They not only detect potential contact with external objects for collision avoidance, but also monitor the operational state of the robotic arm, providing comprehensive sensing capabilities with a relatively simple sensor configuration
Solution Approach 2:
The system combines force sensing and torque sensing capabilities into a coordinated measurement system. The controller integrates data from both types of sensors to comprehensively determine contact location and trajectory adjustments, achieving accurate contact detection through merged sensor information rather than requiring separate dedicated sensors for each function
Data Source
AI summary
A robotic imaging system includes a body with a head unit, a robotic arm and a coupling plate. A camera is positioned in the head unit and configured to record one or more images of a target site. The camera is operatively connected to one or more handles. A plurality of sensors is configured to transmit sensor data. The sensors include at least one primary sensor configured to detect respective force and/or respective torque applied at the body and at least one auxiliary sensor configured to detect the respective force and/or the respective torque applied at the one or more handles. A controller is configured to receive the sensor data and execute a contact management mode, including determining a contact location of the body with an external object based in part on the sensor data and determining a reverse trajectory for moving the body away from the contact location.