Telemanipulation Robot Kinematic Boundary Visualization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Telemanipulation robots often encounter kinematic limitations, such as mechanical and software end stops, which can cause unexpected collisions, making it difficult for operators to intuitively avoid these limitations, especially when controlling the robots remotely with restricted views.
Innovation Solution
A method that graphically displays kinematic limitations of the working space on a display device, allowing users to intuitively recognize and react to these limitations through feedback, including position, type, and means to circumvent them, using virtual or augmented reality representations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If joint stops are implemented to prevent collisions and protect the robot, then robot safety and protection from damage are improved, but the operator's ability to intuitively control the manipulator arm is worsened because the restricted movements are not immediately obvious
Solution Approach 1:
The patent applies feedback by displaying visual indicators (colored zones showing available movement directions) and haptic feedback (resistance forces) to the operator when approaching joint stops. This feedback mechanism makes the restricted movements immediately obvious to the operator, resolving the contradiction between robot protection and intuitive control.
Solution Approach 2:
The system performs preliminary action by providing advance warning to the operator before the manipulator arm actually reaches the joint stop. The visual display shows available movement directions in advance, and haptic resistance increases progressively as the arm approaches the limit, allowing the operator to adjust control before collision occurs.
2Adaptability or versatility
If the operator controls the robot remotely with restricted camera views, then the robot can operate in dangerous or inaccessible environments, but the operator's awareness of kinematic limitations is worsened making collisions more likely
Solution Approach 1:
The patent introduces an intermediary visual display system that translates the physical joint stop limitations into intuitive graphical representations (colored zones indicating available movements). This intermediary interface compensates for the operator's restricted view, making kinematic limitations detectable without requiring direct visual access to the robot's physical boundaries.
Solution Approach 2:
The system replaces mechanical visual cues (physical joint stops that would be visible in direct view) with electronic visual indicators displayed on a screen. This substitution allows the operator to perceive kinematic limitations through the display interface rather than direct visual observation, enabling remote operation with maintained awareness of limitations.
3Ease of operation
If visual display of kinematic limitations is added to help operators avoid collisions, then operator awareness and collision avoidance are improved, but the complexity of the control system is worsened
Solution Approach 1:
The patent applies universality by integrating multiple functions into the existing control system: the same display device used for showing camera feeds and robot status is also used for displaying kinematic limitation indicators. The haptic feedback mechanism serves both as normal control resistance and as warning indicator. This multi-functionality minimizes additional hardware complexity while achieving improved collision avoidance.
Data Source
AI summary
The method involves controlling manipulator arms (10,10') by an input device by a user. The telemanipulation robot has a display device, through which the movement of the manipulator arms or the operation site of the user are or is displayed. The manipulator arms operate in the operation site. A kinematic boundary (12) of the working space is graphically displayed in the display device. The position and location of the boundary of the working space in the coordinate system of the actual reality are transformed into the Cartesian coordinate system of the display device.