Robotic Imaging Arm Speed Scaling for Collision Avoidance
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Solution Overview
Problem
Robotic imaging systems face challenges in avoiding self-collisions among their multiple components, such as the camera unit with the robotic arm and storage unit, due to complex movements and limited workspace, which can lead to equipment damage.
Innovation Solution
A robotic imaging system with a controller that calculates a trajectory scaling factor to modulate the speed of the camera and robotic arm, using sensors to detect position and speed, and applies a collision avoidance mode by checking against predefined buffer zones and joint limits, ensuring smooth motion and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic arm and camera move quickly to improve productivity, then the imaging efficiency increases, but the risk of collision between components increases
Solution Approach 1:
The system pre-defines buffer zones around the robotic arm, camera, and storage unit before operation begins. These virtual safety boundaries are established in advance to prevent collisions before they can occur, allowing the system to operate at higher speeds without increasing collision risk.
Solution Approach 2:
The controller continuously monitors the positions and velocities of all components in real-time, comparing actual positions against the predefined buffer zones. When a component approaches a buffer zone boundary, the system provides feedback by scaling down the velocity to zero, creating a dynamic feedback loop that maintains safety while enabling high-speed operation within safe boundaries.
2Adaptability or versatility
If the robotic arm operates in a confined workspace to improve adaptability, then the system can work in limited spaces, but the likelihood of self-collision increases
Solution Approach 1:
Buffer zones are pre-established around all potential collision points including the robotic arm links, camera unit, and storage unit before the robotic arm enters the confined workspace. This preliminary setup allows the system to operate flexibly in limited spaces while maintaining collision avoidance through pre-planned safety boundaries.
Solution Approach 2:
The collision avoidance system operates in the virtual dimension by creating buffer zones that extend beyond the physical boundaries of components. This adds a spatial dimension to collision prevention, allowing the robotic arm to navigate confined physical spaces safely by utilizing the extra virtual space provided by buffer zones.
3Area of stationary object
If buffer zones are set close to components to maximize workspace utilization, then the available working area increases, but the safety margin for collision avoidance decreases
Solution Approach 1:
The velocity scaling factor dynamically adjusts based on the real-time position of components relative to buffer zone boundaries. When components are far from boundaries, velocity scaling is minimal allowing full workspace utilization. When components approach boundaries, velocity scaling increases to zero, providing dynamic safety margins that adapt to the current operational state rather than using fixed conservative distances.
Solution Approach 2:
The system changes the velocity parameter dynamically based on proximity to buffer zones. By modifying the velocity scaling factor from 1 (normal speed) to 0 (stopped) based on position feedback, the system maximizes workspace utilization during safe operation while maintaining adequate safety margins when needed, rather than using a fixed velocity limit.
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. The robotic imaging system includes a sensor configured to detect and transmit sensor data related to a respective position and/or a respective speed of the camera. 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 a collision avoidance mode, which includes determining a trajectory scaling factor for the camera. The trajectory scaling factor is applied to modulate the respective speed when the camera and/or the robotic arm are in a predefined buffer zone.