Robotic Teleoperation with Alignment Dimension Constraints

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Solution Overview

Problem

Teleoperative robot control often requires high precision, leading to increased user effort and risk of improper object alignment, particularly in tasks involving real-world objects, due to the lack of effective dimensional restriction during manipulation.

Innovation Solution

A method and system that provide a virtual representation of a robot's environment, allowing users to receive manipulation input, alert the user to alignment dimensions, and constrain object movement within those dimensions upon user confirmation, thereby ensuring precise alignment and movement within specified dimensions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If users manually control the robot without dimensional restriction, then the robot can move freely in all dimensions, but the precision of object alignment and manipulation deteriorates due to increased user effort and concentration requirements

Engineering Contradiction:

Improveobject alignment precisionVSAvoiduser control effort

Core Design Contradiction:

Manufacturing precisionVSEase of operation

Solution Approach 1:

The system dynamically changes the degrees of freedom parameter of the robot by engaging or disengaging alignment dimensions. When an alignment dimension is engaged, movement is constrained to specific dimensions only, effectively changing the robot's operational parameters from full 6-DOF to restricted DOF based on task requirements

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The alignment dimension engagement system allows dynamic switching between restricted and unrestricted movement modes. The robot can transition from free movement in all dimensions to constrained movement along alignment dimensions and back, adapting its degrees of freedom in real-time based on task needs

Inventive Principle:

Principle #15Dynamics

2Productivity

If users manually control the robot without dimensional restriction, then the robot can move freely in all dimensions, but the time and concentration required for precise manipulation increases

Engineering Contradiction:

Improvemanipulation efficiencyVSAvoidtime for precise alignment

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

By changing the operational parameters from unrestricted 6-DOF movement to restricted DOF movement along alignment dimensions, the system automatically performs alignment calculations and constrains movement to relevant dimensions only, eliminating the time users would spend manually achieving precise alignment

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system performs preliminary alignment by automatically calculating and establishing alignment dimensions before the user begins manipulation. The alignment dimension is engaged in advance, so when the user provides manipulation input, the robot is already positioned and oriented correctly along the alignment dimension, eliminating the need for users to spend time on alignment adjustments

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11548154B2Systems and methods for dimensionally-restricted robotic teleoperation

Publication Date: 2023.01.10 TOYOTA JIDOSHA KK

AI summary

A method includes providing a virtual representation of an environment of a robot, the virtual representation including an object representation of an object in the environment. The method further includes receiving manipulation input from a user to teleoperate the robot for manipulation of the object. The method also includes alerting the user to an alignment dimension based upon the manipulation input, receiving confirmation input from the user to engage the alignment dimension, and constraining at least one dimension of movement of the object according to the alignment dimension.