Robotic Manipulator Joint Weighting for Vibration Suppression
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Solution Overview
Problem
Robotic manipulators used in medical procedures experience undesirable vibrations due to flexibility and large masses or inertias, leading to inferior system performance and difficulty in achieving commanded trajectories.
Innovation Solution
A system and method that utilize a processing unit to receive link data from sensors on a robotic manipulator, generate joint state estimates, and apply weights to these estimates to control the joints, thereby reducing vibrations and improving control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the robotic manipulator uses flexible structure with large masses or inertias, then the manipulator can achieve required workspace and payload capacity, but it causes under-damped vibrations with long settling times
Solution Approach 1:
The patent implements feedback control by using sensors to detect link motion and generating joint state estimates that are fed back to the control system. This closed-loop feedback mechanism allows the system to actively compensate for vibrations caused by flexible structures and large masses, resolving the contradiction between achieving required payload capacity and maintaining vibration stability.
Solution Approach 2:
The patent applies parameter changes by dynamically adjusting joint state estimates through weighting factors based on sensor data. By changing the estimation parameters in real-time according to actual link motion, the system optimizes the balance between utilizing flexible structure benefits and suppressing harmful vibrations.
2Adaptability or versatility
If the robotic manipulator uses flexible structure, then the manipulator achieves required workspace range, but it results in low mechanical resonance with insufficient damping
Solution Approach 1:
The feedback mechanism uses sensor data from links to continuously update joint state estimates, enabling the system to maintain control precision despite flexible structure-induced vibrations. This real-time feedback ensures reliable trajectory following while preserving the adaptability benefits of flexible links.
Solution Approach 2:
The patent substitutes mechanical damping solutions with a control-based approach using sensor feedback and joint state estimation. This replacement allows the system to achieve vibration suppression and control precision through software-based compensation rather than adding mechanical damping elements, preserving workspace range while improving reliability.
3Weight of moving object
If the robotic manipulator operates with large link masses, then the manipulator achieves required payload capacity, but it causes vibrations that make it difficult to achieve commanded trajectories
Solution Approach 1:
The feedback control system uses sensor measurements from manipulator links to detect actual motion and generate corrected joint state estimates. This feedback mechanism compensates for vibrations caused by large link masses, enabling the system to maintain high trajectory accuracy while preserving the payload capacity benefits of massive links.
Data Source
AI summary
A system includes a robotic manipulator including a plurality of joints and a processing unit including one or more processors. The processing unit is configured to provide one or more weights associated with a plurality of joint state estimates of the plurality of joints based on one or more weighting scheme parameters associated with the robotic manipulator. The weights are provided to reduce vibrations at a first control point. The processing unit is further configured to apply the one or more weights to the joint state estimates for the plurality of joints to generate a plurality of weighted joint state estimates; and control the plurality of joints based on the plurality of weighted joint state estimates.