Robotic Manipulator Vibration Cancellation Using Joint Velocity Estimation
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Solution Overview
Problem
Robotic manipulators experience undesirable vibrations due to under-damped conditions, leading to difficulties in accurately following commanded trajectories and affecting system performance, particularly in medical procedures where vibrations can cause the remote center of motion to move beyond tolerance amounts.
Innovation Solution
A robotic system with a processing unit that receives sensor measurement data to generate joint velocity estimates, determines vibration cancellation states, and applies cancellation forces based on these estimates to mitigate vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic manipulators are designed with greater physical compliance (softer materials, flexible components), then ease of operation and adaptability improve, but vibrations increase due to under-damped conditions
Solution Approach 1:
The system dynamically changes control parameters (cancellation forces) based on real-time vibration detection to compensate for the under-damped nature of compliant manipulators, allowing them to maintain both compliance and vibration resistance
Solution Approach 2:
The system uses sensor feedback to detect vibrations and applies cancellation forces in real-time, creating a closed-loop control system that actively compensates for the inherent vibrations in compliant manipulator designs
2Productivity
If robotic manipulators operate at higher speeds to improve productivity, then output increases, but vibrations become more severe due to dynamic effects
Solution Approach 1:
The system applies cancellation forces before vibrations can significantly affect performance by detecting early signs of vibration and counteracting them proactively during high-speed operation
Solution Approach 2:
The vibration cancellation system dynamically adjusts cancellation forces based on real-time operational conditions, allowing the manipulator to maintain high speeds while actively compensating for speed-induced vibrations
3Device complexity
If standard control systems are used without vibration compensation, then device complexity remains low, but manufacturing precision and trajectory accuracy deteriorate due to vibrations
Solution Approach 1:
The system replaces complex mechanical vibration damping mechanisms with a computational approach, using sensor data and processing units to calculate and apply cancellation forces, thereby maintaining simplicity while improving precision
4Stability of the object's composition
If vibration cancellation is continuously applied to all joints, then vibration mitigation is maximized, but use of energy increases due to constant actuation
Solution Approach 1:
The system applies vibration cancellation selectively and partially - only when and where vibrations are detected - rather than continuously to all joints, thereby reducing energy consumption while maintaining effective vibration control
Solution Approach 2:
The vibration cancellation system dynamically activates and deactivates based on real-time vibration detection, adjusting energy consumption to match actual operational needs rather than operating at constant high energy levels
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 reduces vibrations, improving the accuracy and efficiency of robotic manipulations by minimizing vibration amplitudes and settling times, thereby enhancing the precision of medical procedures.
Implementation Method 1
receive sensor measurement data of the link from a sensor system; generate, based on the sensor measurement data, a first joint velocity estimate of the first joint
Implementation Method 2
apply a first cancellation force to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint; effectively reduces vibrations, improving the accuracy and efficiency of robotic manipulations by minimizing vibration amplitudes
Data Source
AI summary
A robotic system includes a robotic manipulator, which includes a first joint and a link connected to the first joint. A processing unit including one or more processors is configured to receive sensor measurement data of the link from a sensor system, and generate, based on the sensor measurement data, a first joint velocity estimate of the first joint. A first vibration cancellation state for the first joint is determined based on one or more cancellation conditions of one or more of joints of the robotic manipulator. In response to the first vibration cancellation state indicating enablement of vibration cancellation for the first joint, a first cancellation force is applied to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint.