SE525399C2 - Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator - Google Patents

Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator

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Publication number
SE525399C2
SE525399C2 SE0203180A SE0203180A SE525399C2 SE 525399 C2 SE525399 C2 SE 525399C2 SE 0203180 A SE0203180 A SE 0203180A SE 0203180 A SE0203180 A SE 0203180A SE 525399 C2 SE525399 C2 SE 525399C2
Authority
SE
Sweden
Prior art keywords
telerobotics
applications
scheme based
centre point
robot motion
Prior art date
Application number
SE0203180A
Other languages
Swedish (sv)
Other versions
SE0203180L (en
SE0203180D0 (en
Inventor
Mikael Fridenfalk
Original Assignee
Mikael Fridenfalk
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mikael Fridenfalk filed Critical Mikael Fridenfalk
Priority to SE0203180A priority Critical patent/SE525399C2/en
Publication of SE0203180D0 publication Critical patent/SE0203180D0/en
Publication of SE0203180L publication Critical patent/SE0203180L/en
Publication of SE525399C2 publication Critical patent/SE525399C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Position errors near and on inner kinematics singularity points are eliminated using an inverse kinematics scheme based on AC, where A is an inverse kinematics calculator followed by a limiter that limits robot motion with respect to kinematics and dynamics constraints of the total robot system, including its surrounding environment and incorporating properties such as maximum joint, velocity, acceleration and torque limits. The limiter can decrease or equalize constraint values in the neighbourhood of singularities for enhanced control stability. C is a compensator which modifies the position of the tool centre point (TCP) for the robot on the basis of A, building a transformation matrix Pout by concatenation of the position part of Pin and the rotation part of Plim.

Description

525 399 3 PATENTKRAV l. Metod för eliminering av positionsfel intill och på inre kinematiska singularitetspunkter för robothandled, kännetecknad av AC, där A betecknar omvandling av önskat värde från Kartesiska koordinater till led-koordinater, genom användning av en invers kinematisk räknare följt av en limiter som begränsar rörelsen hos robotens leder med hänsyn till kinematiska och dynamiska gränser av hela robotsystemet inklusive dess omgivande miljö, innefattande tex. maximal ledvinkelposition, hastighet, acceleration och moment. Denna limiter kan ytterligare minska eller utjämna begränsningsvärden i närområden av singulariteter, för utökad stabilitet vid reglering. 525 399 3 PATENT REQUIREMENTS 1. Method for eliminating position errors adjacent to and on internal kinematic singularity points for robot wrists, characterized by AC, where A denotes conversion of desired value from Cartesian coordinates to joint coordinates, by using an inverse kinematic counter followed by a limiter which limits the movement of the robot's joints with regard to kinematic and dynamic boundaries of the entire robot system, including its surrounding environment, including e.g. maximum hinge angle position, speed, acceleration and torque. This limiter can further reduce or equalize limit values in the vicinity of singularities, for increased stability when regulating.

Dessa ledvinkelpositioner transfonneras till Kartesiska koordinater och orienteringskomponenten av den resulterande 4x4 homogena transforrnationsmatrisen sammanfogas med positionskomponenten av den nya 4x4 homogena transformationsmatrisen för skapandet av en ny 4x4 homogen transforrnationsmatris genom C, som efter omvandling från Kaitesiska koordinater till led-koordinater genom ytterligare en inverskinematisk beräkning i kedjan slutligen ger önskade ledvinkelpositioner. 2. Metod i enlighet med krav 1, men baserad på ABC, där B är en konfigurationshanterare som automatiskt ändrar den kinematiska konfigurationen för A, ifall övergång till ny konfiguration, baserad på information från A, är oundviklig, d.v.s ifall te.x. maximal hastighet, acceleration och moment, ej omöjliggör övergång. Konfigurationen bestäms av B, och förmedlas till den andra invers kinematiska räknaren i kedjan, så att samma konfiguration används i hela systemet.These articulation positions are transformed into Cartesian coordinates and the orientation component of the resulting 4x4 homogeneous transformation matrix is merged with the position component of the new 4x4 homogeneous transformation matrix to create a new 4x4 homogeneous transformation matrix through C, which after conversion into additional the chain finally provides the desired articulation positions. Method according to claim 1, but based on ABC, where B is a configuration manager that automatically changes the kinematic configuration of A, if transition to new configuration, based on information from A, is unavoidable, i.e. if e.g. maximum speed, acceleration and torque, does not make transition impossible. The configuration is determined by B, and is transmitted to the other inverse kinematic counter in the chain, so that the same configuration is used throughout the system.

Claims (1)

1. 525 399 SAMMANFATTNING Uppfinningen besår av en metod som minimerar problem orsakad av kinematiska singulariteter i robothandleder. Genom eliminering av positionsfel nära och på inre singularitetspunkter, baserad på kinematiska och dynamiska begränsningar, kan antalet misslyckande fall vid reglering reduceras, speciellt i intelligenta robotstyrnings eller telerobotikapplikationer. En tolkning av den nya metoden att starkare motorer tillåts kompensera för styrfel orsakad av svagare motorer i robotsystemet.1. 525 399 SUMMARY The invention consists of a method that minimizes problems caused by kinematic singularities in robotic wrists. By eliminating position errors near and at internal singularity points, based on kinematic and dynamic constraints, the number of failure cases in regulation can be reduced, especially in intelligent robot control or telerobotics applications. An interpretation of the new method that stronger engines are allowed to compensate for steering errors caused by weaker engines in the robot system.
SE0203180A 2002-10-30 2002-10-30 Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator SE525399C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE0203180A SE525399C2 (en) 2002-10-30 2002-10-30 Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0203180A SE525399C2 (en) 2002-10-30 2002-10-30 Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator

Publications (3)

Publication Number Publication Date
SE0203180D0 SE0203180D0 (en) 2002-10-30
SE0203180L SE0203180L (en) 2004-05-01
SE525399C2 true SE525399C2 (en) 2005-02-15

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Family Applications (1)

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SE0203180A SE525399C2 (en) 2002-10-30 2002-10-30 Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator

Country Status (1)

Country Link
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017015599A1 (en) * 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
WO2018214156A1 (en) * 2017-05-26 2018-11-29 深圳配天智能技术研究院有限公司 Method of correcting locomotion control command of robot, and related apparatus for same
US10299883B2 (en) 2013-03-15 2019-05-28 Sri International Hyperdexterous surgical system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10299883B2 (en) 2013-03-15 2019-05-28 Sri International Hyperdexterous surgical system
US10376337B2 (en) 2013-03-15 2019-08-13 Sri International Hyperdexterous surgical system
US10383699B2 (en) 2013-03-15 2019-08-20 Sri International Hyperdexterous surgical system
WO2017015599A1 (en) * 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
US10828115B2 (en) 2015-07-23 2020-11-10 Sri International Robotic arm and robotic surgical system
US12064194B2 (en) 2015-07-23 2024-08-20 Sri International Robotic arm and robotic surgical system
WO2018214156A1 (en) * 2017-05-26 2018-11-29 深圳配天智能技术研究院有限公司 Method of correcting locomotion control command of robot, and related apparatus for same
CN109311163A (en) * 2017-05-26 2019-02-05 深圳配天智能技术研究院有限公司 Correct the method and its relevant device of the motion control commands of robot
CN109311163B (en) * 2017-05-26 2022-02-15 深圳配天智能技术研究院有限公司 Method for correcting motion control command of robot and related equipment thereof

Also Published As

Publication number Publication date
SE0203180L (en) 2004-05-01
SE0203180D0 (en) 2002-10-30

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