Robotic Imaging Arm Force Feedback for Self-Collision Avoidance
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Solution Overview
Problem
Robotic imaging systems face challenges in avoiding collisions between multiple components such as the camera unit and robotic arm, storage unit, and image plane, which can lead to self-collisions and hinder smooth operation.
Innovation Solution
A robotic imaging system with a force-based sensor and controller that detects user-imparted forces and torques, calculates correction forces using proportional-derivative control, and applies these forces to modify the movement sequence to avoid predefined buffer zones and keep-out zones, ensuring smooth transitions and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robotic arm is used to move the camera in a movement sequence, then the imaging efficiency is improved, but self-collisions between the robotic arm and camera unit or storage unit may occur
Solution Approach 1:
The system performs preliminary actions by defining buffer zones and keep-out zones before the actual imaging procedure begins. The controller is pre-programmed with safety boundaries and correction force parameters, allowing the robotic arm to operate autonomously within safe limits without real-time human intervention, thus maintaining high imaging efficiency while preventing collisions
Solution Approach 2:
The system implements continuous feedback through force-based sensors that monitor the robotic arm's movement in real-time. When the camera or robotic arm approaches a buffer zone or keep-out zone, the sensors detect the position and the controller automatically applies correction forces to redirect the movement, creating a closed-loop safety mechanism that prevents collisions while allowing efficient autonomous operation
2Adaptability or versatility
If multiple components are incorporated in the robotic system, then the functionality is enhanced, but the complexity of avoiding self-collisions increases
Solution Approach 1:
The safety system is segmented into distinct functional components: buffer zone definition, keep-out zone definition, force-based sensing, and correction force application. Each component handles a specific aspect of collision avoidance, allowing the system to manage multiple components (robotic arm, camera, storage unit) without overwhelming complexity. The segmentation enables modular troubleshooting and maintenance while preserving enhanced functionality
Solution Approach 2:
The controller acts as an intermediary between the force-based sensors and the robotic arm actuators. It processes sensor data, determines whether correction forces are needed based on predefined safety zones, and calculates appropriate correction forces. This intermediary layer simplifies the overall system complexity by centralizing the collision avoidance logic while allowing the robotic components to maintain their enhanced functionality
3Reliability
If correction forces are applied to modify the movement sequence, then collision avoidance is achieved, but the smoothness of movement may be affected
Solution Approach 1:
The system applies correction forces before the robotic arm actually reaches the buffer zone or keep-out zone boundaries. By detecting approach trends and applying gradual correction forces in advance, the system cushions the robotic arm's movement path, redirecting it smoothly away from safety boundaries rather than making abrupt stops or corrections, thus maintaining movement smoothness while ensuring collision avoidance
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
The system effectively prevents collisions by applying correction forces based on real-time sensor data, ensuring smooth and controlled movement of the camera and robotic arm, enhancing operational efficiency and safety.
Implementation Method 1
A force-based sensor is configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera
Implementation Method 2
The controller is adapted to calculate the respective correction force using a closed-loop control module, including at least one of a proportional-integral controller, a proportional-derivative controller and a proportional-integral-derivative controller
Data Source
AI summary
A robotic imaging system includes a camera configured to obtain one or more images of a target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence. A force-based sensor is configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera. The system includes a controller configured to receive the sensor data. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute a collision avoidance mode, including applying a respective correction force to modify the movement sequence when the camera and/or the robotic arm enter a predefined buffer zone.