Robotic Velocity Profile Selection for Smooth Motion Control
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Solution Overview
Problem
Current telerobotics systems lack efficient methods for controlling robotic devices remotely, particularly in managing velocity profiles, leading to jerky movements due to instantaneous accelerations and decelerations, which can hinder precise operation in various environments such as space exploration, medical devices, and deep marine operations.
Innovation Solution
A system and method for selecting and implementing velocity profiles for robotic devices, allowing users to choose from multiple profiles for accelerations and decelerations, which are then used to filter velocity commands and ensure smooth changes in velocity over time, thereby improving control and precision during operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If instantaneous velocity changes are implemented for controlling robotic device, then response speed is improved, but movement smoothness deteriorates causing jerky movements
Solution Approach 1:
The system pre-defines multiple velocity profiles (e.g., linear, S-curve, trapezoidal) that describe predetermined velocity changes over time. When a user selects a profile, the robotic device automatically follows the pre-planned velocity trajectory, eliminating the need for real-time computation of smooth acceleration curves while ensuring jerk-free motion.
Solution Approach 2:
The system dynamically switches between different velocity profiles based on operational requirements. Users can select from multiple profiles (conservative, moderate, aggressive) that offer different acceleration and deceleration characteristics, allowing the system to adapt its motion dynamics to match task requirements while maintaining smooth transitions.
2Adaptability or versatility
If multiple velocity profiles are provided for selection, then adaptability is improved, but device complexity increases
Solution Approach 1:
The system varies the acceleration and deceleration parameters within predefined velocity profiles to create multiple distinct motion characteristics. By changing key parameters (e.g., maximum acceleration rate, cruise velocity duration) in the mathematical descriptions of velocity profiles, the system offers diverse motion behaviors without requiring complex adaptive algorithms.
Solution Approach 2:
The velocity control is segmented into discrete, pre-defined profiles rather than requiring continuous real-time optimization. Each profile represents a segmented approach to velocity management, dividing the complex control problem into manageable, pre-solved motion patterns that can be selected based on task requirements.
Data Source
AI summary
Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.