Robotic Imaging Damping for Assisted Drive Stability
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Solution Overview
Problem
Existing robotic imaging systems with assisted drive modes face issues such as suboptimal preservation of user input direction, frequent operation at saturated speed limits, and potential overload when large forces are applied.
Innovation Solution
A robotic imaging system that includes a stereoscopic camera, a robotic arm, and a sensor to detect user-imparted forces and torque. The system employs a controller with a processor and memory to execute an assisted drive mode, which involves determining a movement sequence for the robotic arm based on sensor data and a dynamic damping function.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the input of the user is mapped directly to the velocity of the output device, then the system responds quickly to user input, but the user input direction is not optimally preserved and the system frequently operates at saturated speed limits
Solution Approach 1:
The system dynamically adjusts the damping coefficient based on the current state (position and velocity) of the robotic arm. The damping term γ*O(|W|)*{dot over (X)} makes the assistance force velocity-dependent and state-dependent, allowing the system to adapt its response characteristics in real-time to preserve input direction while avoiding saturation
Solution Approach 2:
The damping coefficient γ is changed as a parameter based on the wrench magnitude |W|. By adjusting this parameter dynamically according to the user input magnitude and system state, the system optimizes the balance between responsiveness and input direction preservation, preventing operation at saturated speed limits
2Speed
If large magnitude forces are applied by the user, then the camera can be moved quickly, but the assisted drive system may be overloaded
Solution Approach 1:
The damping term γ*O(|W|)*{dot over (X)} acts as a cushioning force that opposes large user inputs before they can overload the system. When the user applies large forces, the damping force increases proportionally, cushioning the system against excessive loads while still allowing controlled movement
Solution Approach 2:
The system uses feedback from the sensor data about user-applied forces to dynamically adjust the damping force. The damping term is proportional to the wrench vector W and velocity {dot over (X)}, creating a feedback mechanism that automatically reduces system load when large forces are applied while maintaining movement capability
3Reliability
If a damping function is dynamically applied based on sensor data, then the system stability is enhanced and saturation is prevented, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical damping mechanisms with a computational damping function implemented in software. The damping term γ*O(|W|)*{dot over (X)} is calculated based on sensor data and applied through electronic control, substituting mechanical complexity with computational processing while achieving superior stability and saturation prevention
Data Source
AI summary
A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.