Shared-Structure Manipulator Control for Independent Multi-Tool Motion
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Solution Overview
Problem
Existing robotic systems face challenges in managing the coordinated movement of multiple tools supported by a drivable structure, where movement of the structure results in unintended motion of all tools, limiting their degrees of freedom and range of motion.
Innovation Solution
A robotic system with a manipulator assembly and processing system that determines and compensates for the simultaneous movement of multiple tools by calculating and executing coordinated movements of the drivable structure and individual tool joints, ensuring each tool maintains its intended state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a drivable structure supports and moves multiple tools simultaneously, then the structure can efficiently transport multiple tools to different positions, but the movement of the drivable structure causes unintended simultaneous motion of all supported tools, limiting their degrees of freedom and range of motion
Solution Approach 1:
The system divides the control of tool movement into two independent segments: (1) movement of the drivable structure carrying multiple tools, and (2) independent compensatory movement of individual tool joints. This segmentation allows the drivable structure to transport tools efficiently while individual joints compensate to maintain each tool's intended position and orientation, thereby resolving the contradiction between transport efficiency and tool versatility.
Solution Approach 2:
The control system calculates compensatory movements of individual tool joints in advance to counteract the unintended motion caused by drivable structure movement. By applying this preliminary anti-action, the system prevents the loss of tool degrees of freedom while maintaining the efficiency benefits of centralized drivable structure transport.
2Ease of operation
If the drivable structure moves to reposition tools, then tools can be efficiently relocated to different work positions, but all tools supported by the structure move simultaneously causing loss of intended tool states
Solution Approach 1:
The system employs feedback control where the control system continuously monitors the position and orientation of the drivable structure and calculates the resulting unintended motion of each tool. Based on this feedback, the control system adjusts individual tool joint movements to compensate and maintain each tool's intended state, thereby achieving both easy repositioning and precise tool state maintenance.
Solution Approach 2:
The system dynamically changes the parameters (position and orientation) of individual tool joints to compensate for the motion induced by drivable structure movement. By adjusting these joint parameters in real-time, the system maintains precise control over each tool's final position and orientation despite the centralized movement of the drivable structure.
3Device complexity
If multiple tools are coupled to a common drivable structure, then the system complexity is reduced compared to independent manipulators, but the coordinated control of individual tool movements becomes more difficult
Solution Approach 1:
The control system acts as an intermediary that translates high-level tool positioning commands into coordinated movements of both the drivable structure and individual tool joints. This intermediary control layer simplifies the overall system architecture by using a single drivable structure while managing the complexity of coordinated control through automated calculation and execution of compensatory joint movements.
Data Source
AI summary
A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only the drivable structure motion would cause motion of the first end effector simultaneously with motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator. The processing system is further configured to determine a movement of the second manipulator and the second tool that, when performed simultaneously with the drivable structure motion, would compensate for the motion of the second end effector.