Sample Manipulator Force Estimation via Optical Displacement

The patent replaces mechanical force sensors with an optical measurement system. Visual methods using cameras capture displacement data of the manipulator, which is then processed through computational algorithms to estimate forces. This substitution eliminates the need for physical force sensors on the manipulator, reducing device complexity and bulkiness while maintaining measurement capability.

The patent introduces an intermediary computational model that acts as a mediator between visual displacement measurements and force estimation. Instead of directly measuring force with sensors, the system uses displacement data as an intermediary parameter and applies mechanical models to infer force values, thereby avoiding direct force measurement hardware.

The patent performs preliminary actions by pre-calculating and storing compliance matrices and their inverses for different manipulator configurations before actual force estimation is needed. These pre-computed values are stored in memory and quickly retrieved during real-time operation, avoiding computationally intensive matrix inversions during the actual measurement process and enabling real-time performance.

The patent implements a dynamic measurement strategy where the measurement process adapts to the current manipulator state. The system selectively activates measurements based on the manipulator's configuration and the specific task requirements, optimizing computational resources while maintaining real-time capability. The measurement process dynamically adjusts which compliance parameters need to be updated versus which can be reused from previous calculations.