U.S. patent application number 15/786472 was filed with the patent office on 2018-07-12 for teleoperated robotic system.
The applicant listed for this patent is Sarcos LC. Invention is credited to Glenn Colvin, JR., Stephen C. Jacobsen, John McCullough, Marc X. Olivier, Wayco Scroggin, Fraser M. Smith.
Application Number | 20180193999 15/786472 |
Document ID | / |
Family ID | 46052902 |
Filed Date | 2018-07-12 |
United States Patent
Application |
20180193999 |
Kind Code |
A1 |
Jacobsen; Stephen C. ; et
al. |
July 12, 2018 |
Teleoperated Robotic System
Abstract
A teleoperated robotic system that includes master control arms,
slave arms, and a mobile platform. In use, a user manipulates the
master control arms to control movement of the slave arms. The
teleoperated robotic system can include two master control arms and
two slave arms. The master control arms and the slave arms can be
mounted on the platform. The platform can provide support for the
master control arms and for a teleoperator, or user, of the robotic
system. Thus, a mobile platform can allow the robotic system to be
moved from place to place to locate the slave arms in a position
for use. Additionally, the user can be positioned on the platform,
such that the user can see and hear, directly, the slave arms and
the workspace in which the slave arms operate.
Inventors: |
Jacobsen; Stephen C.; (Salt
Lake City, UT) ; Smith; Fraser M.; (Salt Lake City,
UT) ; McCullough; John; (Salt Lake City, UT) ;
Colvin, JR.; Glenn; (Park City, UT) ; Scroggin;
Wayco; (Sandy, UT) ; Olivier; Marc X.; (Salt
Lake City, UT) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Sarcos LC |
Salt Lake City |
UT |
US |
|
|
Family ID: |
46052902 |
Appl. No.: |
15/786472 |
Filed: |
October 17, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13332165 |
Dec 20, 2011 |
9789603 |
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15786472 |
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61481110 |
Apr 29, 2011 |
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61481103 |
Apr 29, 2011 |
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61481089 |
Apr 29, 2011 |
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61481099 |
Apr 29, 2011 |
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61481095 |
Apr 29, 2011 |
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61481091 |
Apr 29, 2011 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 5/005 20130101;
B25J 13/025 20130101; B25J 3/04 20130101 |
International
Class: |
B25J 3/04 20060101
B25J003/04; B25J 5/00 20060101 B25J005/00; B25J 13/02 20060101
B25J013/02 |
Claims
1. A teleoperated robotic system, comprising: a master control arm
having at least two support members coupled together about a joint
to form a degree of freedom corresponding to a degree of freedom of
one of a shoulder, an elbow, and a wrist of a human arm; a slave
arm having at least two support members coupled together about a
joint to form a degree of freedom corresponding to the degree of
freedom of the master control arm; and a mobile platform
maneuverable about a ground surface and within an operating
environment, the mobile platform being adapted to provide onboard
support of a user within an operating area that facilitates
selective operation of at least one of the master control arm and
the mobile platform, wherein the master control arm and the slave
arm are commonly supported about the mobile platform to provide a
mobile teleoperation function.
2. A teleoperated robotic system, comprising: three slave arms; a
first master control arm configured to control at least one of the
three slave arms; a second master control arm configured to control
at least one of the three slave arms; and a control module that
facilitates user determination of which of the three slave arms are
to be controlled by the first and second master control arms.
3. The teleoperated robotic system of claim 2, wherein the first
and second master control arms each comprise at least two support
members coupled together about a joint to form a degree of freedom
corresponding to a degree of freedom of one of a shoulder, an
elbow, and a wrist of a human arm.
4. The teleoperated robotic system of claim 3, wherein the three
slave arms each comprise at least two support members coupled
together about a joint to form a degree of freedom corresponding to
the degree of freedom of at least one of the first or second master
control arms.
5. The teleoperated robotic system of claim 2, wherein the control
module facilitates alternate and selective control and operation of
at least one of the three slave arms by any one of the first and
second master control arms.
6. The teleoperated robotic system of claim 2, further comprising a
mobile platform supporting the three slave arms.
7. The teleoperated robotic system of claim 6, wherein the mobile
platform is maneuverable about a ground surface and within an
operating environment, the mobile platform being adapted to provide
onboard support of the user within an operating area that
facilitates selective operation of at least one of the first and
second master control arms and the mobile platform, wherein the
first and second master control arms and the three slave arms are
commonly supported about the mobile platform to provide a mobile
teleoperation function.
8. The teleoperated robotic system of claim 6, further comprising a
master control system comprising a frame member, and further
comprising a wearable apparatus operable with the frame member to
secure the frame member about the user, and wherein the first and
second master control arms are supported about the frame member and
the wearable apparatus, and wherein the master control system is
removably coupled to the mobile platform to facilitate selective
on-board off-board user control of the three slave arms relative to
the mobile platform.
9. The teleoperated robotic system of claim 2, wherein two of the
three slave arms are operable by user control of the first and
second master control arms to perform a primary function, and
wherein the control module is configured to switch control of one
of the first or second master control arms to selectively control
and operate the third slave arm to perform a secondary
function.
10. The teleoperated robotic system of claim 2, further comprising
a force reflection function, wherein a load sensor on each slave
arm provides load information that is communicated to the
respective first and second master control arms, wherein the first
and second master control arms each further comprise at least one
actuator, and wherein the at least one actuator actuates the
respective first and second master control arms to apply a
proportional load to the user.
11. The teleoperated robotic system of claim 2, further comprising
a tap response function, wherein a force feedback is provided to
the operator through the master control arm when at least one slave
arm contacts an object to enable the operator to sense when the at
least one slave arm makes contact with the object, the tap response
function being based on a derivative of a slave load value.
12. The teleoperated robotic system of claim 4, further comprising
a gravity compensation function, wherein a compensating torque is
provided at the degree of freedom of the respective first and
second master control arms, the gravity compensation function
compensating for an effect of gravity on the respective first and
second master control arms.
13. The teleoperated robotic system of claim 4, further comprising
a gravity compensation function, wherein a compensating torque is
provided at the degree of freedom of at least one of the slave arm,
the gravity compensation function compensating for an effect of
gravity on the at least one slave arm.
14. The teleoperated robotic system of claim 2, wherein at least
one of the three slave arms further comprises an end effector
operable to interface with and manipulate an object.
15. The teleoperated robotic system of claim 14, wherein the end
effector is removably coupled to the respective slave arm, and
wherein the end effector is interchangeable with another end
effector.
16. The teleoperated robotic system of claim 2, wherein each slave
arm comprises: a plurality of support members coupled together
about a plurality of joints, and a load sensor associated with one
of the plurality of support members that measures a load applied by
a payload in at least one degree of freedom and provides load data
for the payload; and a payload stabilization function that utilizes
the load data for the payload to facilitate actuated movement of
the slave arm in response to the load applied to the load sensor by
the payload, and that causes the slave arm to respond to the load
applied to the payload to stabilize the payload, wherein at least
one slave arm of the three slave arms moves to minimize a component
of the load applied by the payload to at least two load sensors,
when at least two slave arms are engaged with the payload.
17. The slave arm system of claim 16, wherein each slave arm moves
to minimize the force component of the load applied by the payload
that is perpendicular to gravity, such that each slave arm tends to
position the load sensor above a center of gravity of the payload
to minimize a swing of the payload.
18. The teleoperated robotic system of claim 2, wherein each slave
arm comprises: a first support member and a second support member
coupled together about a joint having a degree of freedom
corresponding to a degree of freedom of the respective first and
second master control arms, wherein a lateral edge of the first
support member overlaps a lateral edge of the second support member
to facilitate relative rotation of the first support member and the
second support member such that the first support member and the
second support member swing relative to one another about an axis
associated with the slave arm degree of freedom; a first linkage
rotatably coupled to the first support member and configured for
motion in a plane; and a second linkage rotatably coupled to the
first linkage and the second support member, wherein motion by the
first linkage in the plane causes an out of plane relative
rotational movement of the first support member and the second
support member about the axis associated with the slave arm degree
of freedom.
19. The teleoperated robotic system of claim 18, wherein the first
linkage is rotatably coupled to the first support member about an
axis substantially perpendicular to the axis associated with the
degree of freedom of the joint, and wherein each slave arm further
comprises an actuator coupled to the first support member and the
first linkage to cause motion of the first linkage and to
facilitate movement of the slave arm at the degree of freedom of
the joint in response to a movement of the respective first and
second master control arms.
20. The teleoperated robotic system of claim 2, further comprising
a third master control arm configured to control at least one of
the three slave arms.
21. A teleoperated robotic system, comprising: a plurality of
master control arms, each having at least two support members
coupled together about a joint to form a degree of freedom
corresponding to a degree of freedom of one of a shoulder, an
elbow, and a wrist of a human arm; a first slave arm having at
least two support members coupled together about a joint to form a
degree of freedom corresponding to the degree of freedom of the
plurality of master control arms; and a control module that
facilitates alternate and selective control and operation of the
first slave arm by any one of the plurality of master control
arms.
22. The teleoperated robotic system of claim 21, further comprising
a second slave arm having at least two support members coupled
together about a joint to form a degree of freedom corresponding to
the degree of freedom of the plurality of master control arms,
wherein the first slave arm and the second slave arm are
selectively and alternatively controllable by one of the plurality
of master control arms.
23. The teleoperated robotic system of claim 22, further comprising
a third slave arm having at least two support members coupled
together about a joint to form a degree of freedom corresponding to
the degree of freedom of the plurality of master control arms,
wherein the first, second, and third slave arms are selectively and
alternatively controllable by one of the plurality of master
control arms.
Description
PRIORITY DATA
[0001] This is a continuation application of U.S. application Ser.
No. 13/332,165, filed Dec. 20, 2011, entitled "Teleoperated Robotic
System" which claims the benefit of U.S. Provisional Application
Ser. No. 61/481,110, filed Apr. 29, 2011; 61/481,103, filed Apr.
29, 2011; 61/481,089, filed Apr. 29, 2011; 61/481,099, filed Apr.
29, 2011; 61/481,095, filed Apr. 29, 2011; and 61/481,091, filed
Apr. 29, 2011, each of which are incorporated by reference herein
in their entirety.
BACKGROUND
[0002] Lifting and transporting objects and items from one location
to another often presents considerable problems in terms of not
being safe, efficient and/or cost effective. These problems can be
exacerbated in those industries and environments (e.g., shipyards,
warehouses, military deployment locations, etc.) where all of the
lifting and/or transporting of objects or items is required to be
done manually due to the unavailability of lift or transport
assistance systems, or where a part of the lifting and/or
transporting of objects is done with at least some assistance, but
the assistance is done with an available lift or transport
assistance system limited in its functionality, thus making its use
impractical or ineffective for certain tasks.
[0003] The difficulty of lifting and/or transporting objects from
one location to another, or even the inability to do so, when such
is needed is commonly referred to as a "lift gap," with the
discipline being referred to as "gap logistics." Currently, there
are several so called "lift gaps" associated with payloads of up to
400 lbs presenting considerable problems and challenges in public,
private and military settings. In many cases, logistics personnel
are often required to lift, transport or otherwise manipulate heavy
or bulky payloads in any way possible, sometimes with the help of
awkward and ineffective and/or inefficient assistance systems, and
sometimes manually without assistance.
[0004] One illustrative example is in logistics (e.g., military or
other types of logistics settings), which can comprise the
discipline of carrying out the movement, maintenance and support of
various objects. In short, logistics can include the aspects of
acquisition, storage, distribution, transport, maintenance,
evacuation, and preparation of material and equipment. Whatever the
setting, logistics support personnel often faces the challenge of
lifting and transporting equipment that can weigh up to several
hundred pounds or more, thus posing significant logistics problems.
Moving these about can require great effort on the part of
logistics personnel, even with the help of the limited
functionality assistance systems made available to them. Additional
challenges or problems exist when there is a large number of
objects required to be lifted and transported, particularly on a
daily basis, even if these objects weigh less than the relatively
heavier objects. Indeed, it is not uncommon for logistics personnel
to each lift and transport several thousand pounds a day, sometimes
over difficult terrain. Moreover, much of this is done manually,
unfortunately leading to a variety of orthopedic and other
injuries, as well as a high rate in personnel turnover.
[0005] Therefore, a need exists for a system that can be
intuitively operated by a user and that performs most, if not all,
of the work associated with lifting and maneuvering heavy and/or
large number of objects from one location to another.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The present invention will become more fully apparent from
the following description and appended claims, taken in conjunction
with the accompanying drawings. Understanding that these drawings
merely depict exemplary embodiments of the present invention they
are, therefore, not to be considered limiting of its scope. It will
be readily appreciated that the components of the present
invention, as generally described and illustrated in the figures
herein, could be arranged and designed in a wide variety of
different configurations. Nonetheless, the invention will be
described and explained with additional specificity and detail
through the use of the accompanying drawings.
[0007] FIG. 1 is a perspective view of a teleoperated robotic
system in accordance with an example of the present disclosure.
[0008] FIG. 2A is a perspective view of a master control arm in
accordance with an example of the present disclosure.
[0009] FIG. 2B is another perspective view of the master control
arm of FIG. 2A.
[0010] FIG. 2C is a perspective view of a master control arm in
accordance with another example of the present disclosure.
[0011] FIG. 3A is a perspective view of a base, a first support
member, and a second support member of the master control arm of
FIGS. 2A and 2B.
[0012] FIG. 3B is another perspective view of the base, the first
support member, and the second support member of FIG. 3A.
[0013] FIG. 4A is a perspective view of a second support member, a
third support member, and a fourth support member of the master
control arm of FIGS. 2A and 2B.
[0014] FIG. 4B is another perspective view of the second support
member, the third support member, and the fourth support member of
FIG. 4A.
[0015] FIG. 5A is a perspective view of a wrist unit of the master
control arm of FIGS. 2A and 2B.
[0016] FIG. 5B is another perspective view of the wrist unit of
FIG. 5A.
[0017] FIG. 5C is a perspective view of an actuator, position
sensor, and load sensor arrangement of the wrist unit of FIGS. 5A
and 5B.
[0018] FIG. 5D is another perspective view of the actuator,
position sensor, and load sensor arrangement of FIG. 5C.
[0019] FIG. 6A is a perspective view of a slave arm in accordance
with an example of the present disclosure.
[0020] FIG. 68 is another perspective view of the slave arm of FIG.
6A.
[0021] FIG. 7A is a perspective view of a base, a first support
member, and a second support member of the slave arm of FIGS. 6A
and 6B.
[0022] FIG. 7B is another perspective view of the base, the first
support member, and the second support member of FIG. 7A.
[0023] FIG. 70 is a hydraulic schematic of a clamp valve to isolate
an actuator from a servo valve, in accordance with an example of
the present disclosure.
[0024] FIG. 8A is a perspective view of a second support member, a
third support member, and a fourth support member of the slave arm
of FIGS. 6A and 6B.
[0025] FIG. 8B is another perspective view of the second support
member, the third support member, and the fourth support member of
FIG. 8A.
[0026] FIG. 9A is a perspective view of a fourth support member, a
fifth support member, a sixth support member, and a seventh support
member of the slave arm of FIGS. 6A and 6B.
[0027] FIG. 9B is another perspective view of the fourth support
member, the fifth support member, the sixth support member, and the
seventh support member of FIG. 9A.
[0028] FIG. 90 is a perspective view of the fifth support member,
the sixth support member, and the seventh support member of FIG.
9A.
[0029] FIG. 9D is a section view of an actuator and linkage
associated with a joint between the fourth support member and the
fifth support member of FIG. 9A.
[0030] FIG. 10A is a schematic diagram of a control system signal
flow of a teleoperated robotic system, in accordance with an
example of the present disclosure.
[0031] FIG. 10B is a schematic diagram of one aspect of the control
signal flow of FIG. 10A.
[0032] FIG. 100 is a schematic diagram of another aspect of the
control signal flow of FIG. 10A.
[0033] FIG. 10D is a schematic diagram of still another aspect of
the control signal flow of FIG. 10A.
[0034] FIG. 11 is a schematic diagram of a power system in
accordance with an example of the present disclosure.
[0035] FIG. 12 is a perspective view of a mobile platform in
accordance with an example of the present disclosure.
[0036] FIG. 13 mobile platform is a perspective view of the mobile
platform of FIG. 12 having master control arms and slave arms
coupled thereto in accordance with an example of the present
disclosure.
[0037] FIG. 14 is a perspective view of a mobile platform, in
accordance with another example of the present disclosure.
[0038] FIG. 15A illustrates omni-directional wheels steering
control of the mobile platform of FIG. 14, in accordance with an
example of the present disclosure.
[0039] FIG. 15B illustrates omni-directional wheels steering
control of the mobile platform of FIG. 14, in accordance with
another example of the present disclosure.
[0040] FIG. 150 illustrates omni-directional wheels steering
control of the mobile platform of FIG. 14, in accordance with yet
another example of the present disclosure.
[0041] FIG. 15D illustrates omni-directional wheels steering
control of the mobile platform of FIG. 14, in accordance with still
another example of the present disclosure.
[0042] FIG. 15E illustrates a side view of a mobility system to
enable a teleoperated robotic system to overcome an obstacle, in
accordance with an example of the present disclosure.
[0043] FIG. 15F illustrates a rear view of the mobility system of
FIG. 15E.
[0044] FIG. 16 is a side view of a mobile platform, in accordance
with an additional example of the present disclosure.
[0045] FIG. 17A is a perspective view of a teleoperated robotic
system having a primary platform and a secondary platform, in
accordance with an example of the present disclosure.
[0046] FIG. 17B is a side view of the teleoperated robotic system
of FIG. 17A.
[0047] FIG. 170 is a cross-sectional side view of a portion of the
teleoperated robotic system of FIG. 17A.
[0048] FIG. 18 illustrates master control arms located on a truck,
remotely located relative to slave arms, in accordance with an
example of the present disclosure.
[0049] FIG. 19A illustrates a detachable master control arm with
shoulder straps undocked from a platform, in accordance with an
example of the present disclosure.
[0050] FIG. 19B illustrates a detachable master control arm with
shoulder straps docked to a platform, in accordance with an example
of the present disclosure.
[0051] FIG. 190 illustrates a side view of a platform with a
detachable master control arm, in accordance with an example of the
present disclosure.
[0052] FIG. 19D illustrates a rear facing view of a platform with a
detachable master control arm, in accordance with an example of the
present disclosure.
[0053] FIG. 19E illustrates a detachable master control arm with a
waist belt undocked from a platform, in accordance with an example
of the present disclosure.
[0054] FIG. 19F illustrates a teleoperated robotic system having
three slave arms and two master control arms, in accordance with an
example of the present disclosure.
[0055] FIG. 20 illustrates detachable and interchangeable end
effectors coupleable to a slave arm, in accordance with an example
of the present disclosure.
[0056] FIG. 21 illustrates an end effector control unit, in
accordance with an example of the present disclosure.
[0057] FIG. 22 illustrates a linear degree of freedom end effector,
in accordance with an example of the present disclosure.
[0058] FIG. 23 is an illustrative diagram showing a platform with a
scanning device on a robotic arm, in accordance with an example of
the present disclosure.
[0059] FIG. 24 is an illustrative top view diagram showing a
platform with a robotic arm holding an item, in accordance with an
example of the present disclosure.
[0060] FIG. 25 is an illustrative block diagram of a robotic arm
inventory system, in accordance with an example of the present
disclosure.
[0061] FIG. 26 is a flowchart illustrating a method for
inventorying an item using a robotic arm, in accordance with an
example of the present disclosure.
[0062] FIG. 27A is an illustrative diagram showing a platform with
a lifting device in a lowered position, in accordance with an
example of the present disclosure.
[0063] FIG. 27B is an illustrative diagram showing a lifting device
in a raised position for use by a platform, in accordance with an
example of the present disclosure.
[0064] FIG. 28A is an illustrative partially cutout side view
diagram showing a lifting device in a lowered position, in
accordance with an example of the present disclosure.
[0065] FIG. 28B is an illustrative partially cutout side view
diagram of a lifting device in a raised position, in accordance
with an example of the present disclosure.
[0066] FIG. 29 is an illustrative prospective view diagram showing
a lifting device keyed carriage, in accordance with an example of
the present disclosure.
[0067] FIG. 30A is an illustrative side view diagram showing a
folding lifting device with a mast in a vertical position and a
lowered carriage, in accordance with an example of the present
disclosure.
[0068] FIG. 30B is an illustrative side view diagram showing a
folding lifting device with a mast in a vertical position and a
raised carriage, in accordance with an example of the present
disclosure.
[0069] FIG. 30C is an illustrative side view diagram showing a
folding lifting device with a mast in a folded position and a
carriage arm extended, in accordance with an example of the present
disclosure.
[0070] FIG. 30D is an illustrative side view diagram showing a
folding lifting device with a mast in a folded position and a
carriage arm folded, in accordance with an example of the present
disclosure.
[0071] FIG. 31A is an illustrative side view diagram showing a
robotic arm on a folding lifting device with a mast in a folded
position, in accordance with an example of the present
disclosure.
[0072] FIG. 31B is an illustrative side view diagram showing a
robotic arm on a folding lifting device with a mast in a vertical
position, in accordance with an example of the present
disclosure.
DETAILED DESCRIPTION
[0073] The present invention is related to nonprovisional U.S.
patent application Ser. No. 13/332,152, filed Dec. 20, 2011, and
entitled, "System and Method for Controlling a Teleoperated Robotic
Agile Lift System"; Ser. No. 13/332,138, filed Dec. 20, 2011, and
entitled, "Platform Perturbation Compensation"; Ser. No.
13/332,146, filed Dec. 20, 2011, and entitled, "Robotic Agile Lift
System with Extremity Control; Ser. No. 13/332,129, filed Dec. 20,
2011, and entitled, "Multi-degree of Freedom Torso Support for a
Robotic Agile Lift System"; Ser. No. 13/332,160, filed Dec. 20,
2011, and entitled, "Variable Strength Magnetic End Effector for
Lift Systems", each of which are incorporated by reference in their
entirety herein.
[0074] As used herein, the singular forms "a," and, "the" include
plural referents unless the context clearly dictates otherwise.
Thus, for example, reference to "a robotic arm" includes one or
more of such robotic arms and reference to a "degree of freedom"
(DOF) includes reference to one or more of such DOFs (degrees of
freedom).
[0075] As used herein, the term "substantially" refers to the
complete or nearly complete extent or degree of an action,
characteristic, property, state, structure, item, or result. For
example, an object that is "substantially" enclosed would mean that
the object is either completely enclosed or nearly completely
enclosed. The exact allowable degree of deviation from absolute
completeness may in some cases depend on the specific context.
However, generally speaking the nearness of completion will be so
as to have the same overall result as if absolute and total
completion were obtained. The use of "substantially" is equally
applicable when used in a negative connotation to refer to the
complete or near complete lack of an action, characteristic,
property, state, structure, item, or result. In other words, a
composition that is "substantially free of" an ingredient or
element may still actually contain such item as long as there is no
measurable effect thereof.
[0076] As used herein, the term "about" is used to provide
flexibility to a numerical range endpoint by providing that a given
value may be "a little above" or "a little below" the endpoint.
[0077] As used herein, a plurality of items, structural elements,
compositional elements, and/or materials may be presented in a
common list for convenience. However, these lists should be
construed as though each member of the list is individually
identified as a separate and unique member. Thus, no individual
member of such list should be construed as a de facto equivalent of
any other member of the same list solely based on their
presentation in a common group without indications to the
contrary.
[0078] Numerical data may be expressed or presented herein in a
range format. Unless otherwise indicated, it is to be understood
that such a range format is used merely for convenience and brevity
and thus should be interpreted flexibly to include not only the
numerical values explicitly recited as the limits of the range, but
also to include all the individual numerical values or sub-ranges
encompassed within that range as if each numerical value and
sub-range is explicitly recited. As an illustration, a numerical
range of "about 1 to about 5" should be interpreted to include not
only the explicitly recited values of about 1 to about 5, but also
include individual values and sub-ranges within the indicated
range. Thus, included in this numerical range are individual values
such as 2, 3, and 4 and sub-ranges such as from 1-3, from 2-4, and
from 3-5, etc., as well as 1, 2, 3, 4, and 5, individually.
[0079] Reference will now be made to certain examples, and specific
language will be used herein to describe the same. Examples
discussed herein set forth a teleoperated robotic system that can
be intuitively operated by a user and that is capable of performing
most, if not all, of the work associated with lifting and
maneuvering heavy objects, or large numbers of objects having
differing weights. In particular examples, the teleoperated robotic
system can include master control arms and slave arms controllable
by the master control arms.
[0080] In one example, a teleoperated robotic system can comprise a
master control arm having at least two support members coupled
together about a joint to form a degree of freedom corresponding to
a degree of freedom of one of a shoulder, an elbow, and a wrist of
a human arm; a slave arm having at least two support members
coupled together about a joint to form a degree of freedom
corresponding to the degree of freedom of the master control arm;
and a mobile platform maneuverable about a ground surface and
within an operating environment, the mobile platform being adapted
to provide onboard support of a user within an operating area that
facilitates selective operation of at least one of the master
control arm and the mobile platform, wherein the master control arm
and the slave arm are commonly supported about the mobile platform
to provide a mobile teleoperation function.
[0081] In another example, a platform operable within a
teleoperated robotic system can comprise a base; a support system
for facilitating support of at least one of a master control arm
and a slave arm; a power system that facilitates powering of the at
least one master control arm and slave arm; and a control system
that facilitates operation of the at least one master control arm
and slave arm.
[0082] In another example, a master control arm for controlling
movement of a slave arm within a teleoperated robotic system can
comprise at least two support members coupled together about a
joint to provide a degree of freedom corresponding to a degree of
freedom of one of a shoulder, an elbow, and a wrist of a human arm;
a position sensor associated with the joint that measures a
position value of the at least two support members at the degree of
freedom; a first load sensor associated with the joint that
measures a first load value in the degree of freedom, wherein a
corresponding joint of the slave arm is manipulated based on at
least one of the position value and the first load value; a second
load sensor associated with the degree of freedom that measures a
second load value from a load applied by a user; and an actuator
coupled to the at least two support members to apply a load to the
at least two support members based, at least in part, on the second
load value.
[0083] In another example, a master control arm having multiple
degrees of freedom; and operable within a teleoperated robotic
system to control movement of a slave arm, can comprise a plurality
of support members coupled together about a plurality of joints
having at least one degree of freedom; a position sensor associated
with each of the joints that detects a change in position of the
master control arm at each degree of freedom; a load sensor
associated with each of the joints that measures a load in the at
least one degree of freedom, and provides load data for the at
least one degree of freedom; a user interface device having at
least one load sensor offset from the joints that measures a load
applied to the user interface device by a user, and provides load
data for the at least one degree of freedom that is in addition to
the load data from the load sensor associated with the at least one
degree of freedom; and a torque assistance function that utilizes
the load data from the load sensor of the user interface device to
facilitate actuated movement of the master control arm in response
to a load applied to the master control arm by the user, and that
reduces the forces necessary to move the master control arm.
[0084] In another example, a teleoperated robotic system can
comprise a platform; a slave arm; and a master control system
comprising a frame member, and at least one master control arm
supported about the frame member, wherein the master control system
is removably coupled to the platform to facilitate selective
on-board off-board user control of the slave arm relative to the
platform.
[0085] In another example, a teleoperated robotic system can
comprise three slave arms; a first master control arm configured to
control at least one of the three slave arms; a second master
control arm configured to control at least one of the three slave
arms; and a control module that facilitates user determination of
which of the at least three slave arms are to be controlled by the
first and second master control arms.
[0086] In another example, a teleoperated robotic system can
comprise a mobile platform comprising a primary platform being
moveable with respect to a supporting surface, and a secondary
platform coupled to the primary platform and being moveable with
respect to the primary platform, wherein the secondary platform
operates to support a robotic slave arm controllable by a master
control arm.
[0087] In another example, a lifting device can comprise a
platform; a fixed arm with cogs on a first end, the fixed arm being
coupled to the platform about a second end; a bracket having a
first end and a second end, the first end being rotatably coupled
to the first end of the fixed arm about a pivot point; an actuator
coupled to the platform and the bracket for rotating the bracket
around the pivot point; a lift gear coupled to the second end of
the bracket; a center gear coupling the lift gear to the cogs on
the first end of the fixed arm; and a keyed lift carriage coupled
to the lift gear, wherein the keyed lift carriage maintains a level
position when the lift gear is rotated.
[0088] In another example, a folding lifting device can comprise a
platform; a mast rotatably connected to the platform, wherein the
mast can rotate from a vertical position to a folding position onto
the platform; a carriage slidably connected to the mast, wherein
the carriage can slide along the mast; and an actuator coupled to
the platform and the mast to rotate the mast between a vertical
position and folded position.
[0089] In another example, a teleoperated robotic system can
comprise a master control arm having at least two support members
coupled together about a joint to form a degree of freedom
corresponding to a degree of freedom of one of a shoulder, an
elbow, and a wrist of a human arm, a position sensor associated
with the joint that measures a position value of the at least two
support members at the degree of freedom, a first load sensor
associated with the joint that measures a first load value in the
degree of freedom, wherein a corresponding joint of the slave arm
is manipulated based on at least one of the position value and the
first load value, a second load sensor associated with the degree
of freedom that measures a second load value from a load applied by
a user, and an actuator coupled to the at least two support members
to apply a load to the at least two support members based, at least
in part, on the second load value; and a slave arm controllable by
the master control arm having at least two support members coupled
together about a joint to form a degree of freedom corresponding to
the degree of freedom of the master control arm.
[0090] In another example, a teleoperated robotic system can
comprise a master control arm having a plurality of support members
coupled together about a plurality of joints having at least one
degree of freedom, a position sensor associated with each of the
joints that detects a change in position of the master control arm
at each degree of freedom, a load sensor associated with each of
the joints that measures a load in the at least one degree of
freedom, and provides load data for the at least one degree of
freedom, a user interface device having at least one load sensor
offset from the joints that measures a load applied to the user
interface device by a user, and provides load data for the at least
one degree of freedom that is in addition to the load data from the
load sensor associated with the at least one degree of freedom, and
a torque assistance function that utilizes the load data from the
load sensor of the user interface device to facilitate actuated
movement of the master control arm in response to a load applied to
the master control arm by the user, and that reduces the forces
necessary to move the master control arm; and a slave arm
controllable by the master control arm having a plurality of
support members coupled together about a plurality of joints to
form at least one degree of freedom corresponding to the at least
one degree of freedom of the master control arm.
[0091] In another example, a teleoperated robotic system can
comprise a master control arm having at least two support members
coupled together about a joint to form a degree of freedom
corresponding to a degree of freedom of one of a shoulder, an
elbow, and a wrist of a human arm; a slave arm having at least two
support members coupled together about a joint to form a degree of
freedom corresponding to the degree of freedom of the master
control arm; and
[0092] a mobile platform maneuverable about a ground surface and
within an operating environment, the mobile platform being adapted
to provide onboard support of a user, wherein the master control
arm and the slave arm are commonly supported about the mobile
platform to provide a mobile teleoperation function and wherein a
master/slave relationship filtering function that filters
frequencies resulting from induced movements of at least one of the
master control arm and slave arm to reduce motion feedback that
propagates through the mobile platform.
[0093] In another example, a teleoperated robotic system can
comprise a plurality of master control arms, each having at least
two support members coupled together about a joint to form a degree
of freedom corresponding to a degree of freedom of one of a
shoulder, an elbow, and a wrist of a human arm; and a slave arm
having at least two support members coupled together about a joint
to form a degree of freedom corresponding to the degree of freedom
of the plurality of master control arms; and a control module that
facilitates alternate and selective control and operation of the
slave arm by any one of the plurality of master control arms.
[0094] In another example, a teleoperated robotic system can
comprise a master control arm having at least two support members
coupled together about a joint to form a degree of freedom
corresponding to a degree of freedom of one of a shoulder, an
elbow, and a wrist of a human arm; and a plurality of slave arms,
each having at least two support members coupled together about a
joint to form a degree of freedom corresponding to the degree of
freedom of the plurality of master control arms; and a control
module that facilitates alternate and selective individual control
and operation of any one of the plurality of slave arms by the
master control arm.
[0095] In another example, a master control arm operable within a
teleoperated robotic system to control movement of a slave arm can
comprise a first support member and a second support member coupled
together about a joint having a degree of freedom corresponding to
a degree of freedom of a wrist of a human arm, wherein at least one
of the first support member and the second support member is
configured to position the degree of freedom of the joint in
substantial alignment with a corresponding degree of freedom of a
wrist of a user; a position sensor associated with the joint that
detects a change in position of the master control arm at the
degree of freedom of the joint; a load sensor associated with the
joint that measures a load at the degree of freedom of the joint;
and an actuator coupled to the first support member and the second
support member to facilitate an actuated load at the degree of
freedom of the joint in response to an external load.
[0096] In another example, a slave arm operable within a
teleoperated robotic system to respond to movement of a master
control arm can comprise a first support member and a second
support member coupled together about a joint having a degree of
freedom corresponding to a degree of freedom of the master control
arm, wherein a lateral edge of the first support member overlaps a
lateral edge of the second support member to facilitate relative
rotation of the first support member and the second support member
such that the first support member and the second support member
swing relative to one another about an axis associated with the
slave arm degree of freedom; a first linkage rotatably coupled to
the first support member and configured for motion in a plane; and
a second linkage rotatably coupled to the first linkage and the
second support member, wherein motion by the first linkage in the
plane causes an out of plane relative rotational movement of the
first support member and the second support member about the axis
associated with the slave arm degree of freedom.
[0097] In another example, a slave arm operable within a
teleoperated robotic system to respond to movement of a master
control arm can comprise a first support member and a second
support member coupled together about a joint having a degree of
freedom corresponding to a degree of freedom of the master control
arm; an actuator coupled to the first support member and the second
support member to apply a load about the degree of freedom of the
slave arm, the actuator being configured to receive fluid pressure
to operate the actuator; a servo valve fluidly coupled to the
actuator to control the fluid pressure to the actuator; and a clamp
valve that fluidly isolates the actuator from the servo valve to
lock the actuator and prevent movement of the associated degree of
freedom.
[0098] In another example, a slave arm operable within a
teleoperated robotic system to respond to movement of a master
control arm can comprise a first support member and a second
support member coupled together about a joint having a degree of
freedom corresponding to a degree of freedom of the master control
arm; an actuator coupled to the first support member and the second
support member to apply a load about the degree of freedom of the
slave arm, the actuator having a first side and a second side to
receive fluid pressure to operate the actuator; a servo valve
fluidly coupled to the first side of the actuator and the second
side of the actuator to control the fluid pressure to the actuator;
and a clamp valve to fluidly isolate the actuator from the servo
valve to lock the actuator and prevent movement of the associated
degree of freedom, the clamp valve comprising a first check valve
and a second check valve, each fluidly coupled between the first
side of the actuator and the servo valve, wherein, when closed, the
first check valve restricts flow from the actuator to the servo
valve and the second check valve restricts flow from the servo
valve to the actuator, a third check valve and a fourth check
valve, each fluidly coupled between the second side of the actuator
and the servo valve, wherein, when closed, the third check valve
restricts flow from the actuator to the servo valve and the fourth
check valve restricts flow from the servo valve to the actuator,
and a pilot valve fluidly coupled to the first check valve, the
second check valve, the third check valve, and the fourth check
valve to open the check valves with a pilot pressure and allow the
servo valve to control the fluid pressure to the actuator, wherein
removal of the pilot pressure allows the check valves to close such
that fluid is prevented from flowing from the servo valve to the
actuator and from the actuator to the servo valve.
[0099] In another example, a slave arm system operable within a
teleoperated robotic system to respond to movement of a master
control arm and to stabilize a payload can comprise a slave arm
having a plurality of support members coupled together about a
plurality of joints, and a load sensor associated with one of the
plurality of support members that measures a load applied by a
payload in at least one degree of freedom and provides load data
for the payload; and a payload stabilization function that utilizes
the load data for the payload to facilitate actuated movement of
the slave arm in response to the load applied to the load sensor by
the payload, and that causes the slave arm to respond to the load
applied to the payload to stabilize the payload.
[0100] In another example, a robotic arm inventory system can
comprise a platform; a robotic arm coupled to the platform; an end
effector coupled to an end of the robotic arm; and a scanning
device coupled to the robotic arm to scan an object tag affixed to
a object manipulated by the robotic arm.
[0101] In another example, a lifting device can comprise a
platform; a fixed arm with cogs on a first end and coupled to the
platform on a second end of the fixed arm; a pivot point on a first
end of a bracket rotatably coupled to the first end of the fixed
arm; an actuator coupled to the platform and the bracket for
rotating the bracket around the pivot point; a lift gear coupled to
a second end of the bracket; a center gear coupling the lift gear
to the cogs on the first end of the fixed arm; and a keyed lift
carriage coupled to the lift gear, wherein the keyed lift carriage
maintains a level position when the lift gear is rotated.
[0102] In another example, a lifting device can comprise a
platform; a right fixed arm with cogs on a first end and coupled to
the platform on a second end of the right fixed arm; a left fixed
arm with cogs on a first end and coupled to the platform on a
second end of the left fixed arm; a right pivot point on a first
end of a right bracket rotatably coupled to the first end of the
right fixed arm; a left pivot point on a first end of a left
bracket rotatably coupled to the first end of the left fixed arm;
an actuator coupled to the platform and at least the right or left
bracket for rotating the at least the right or left bracket around
the pivot point; a right lift gear coupled to a second end of the
right bracket; a left lift gear coupled to a second end of the left
bracket; a right center gear coupling the right lift gear to the
cogs on the first end of the right fixed arm; a left center gear
coupling the left lift gear to the cogs on the first end of the
left fixed arm; and a keyed lift carriage between the right and
left bracket coupled to the right and left lift gear, wherein the
keyed lift carriage maintains a constant angular position relative
to the fixed arm when the lift gear is rotated.
[0103] In another example, a folding lifting device can comprise a
platform; a mast rotatably connected to the platform, wherein the
mast can rotate from a vertical position to a folding position onto
the platform; a carriage slidably connected to the mast, wherein
the carriage can slide along the mast; and an actuator coupled to
the platform and the mast to rotate the mast between a vertical
position and folded position.
[0104] With these general examples set forth above, it is noted in
the present disclosure that when describing various exemplary
embodiments of the teleoperated robotic system, or the related
devices or methods, each of these descriptions may be considered
applicable to the other, where appropriate, whether or not they are
explicitly discussed in the context of that example. For example,
in discussing the teleoperated robotic system per se, the device
and/or method examples are also included in such discussions, and
vice versa.
[0105] Furthermore, various modifications and combinations can be
derived from the present disclosure and illustrations, and as such,
the following disclosure and the discussed figures should not be
considered limiting.
[0106] Illustrated in FIG. 1 is a teleoperated robotic system 100
(e.g., a lift system) in accordance with one exemplary embodiment
of the present invention. The system 100 can include master control
arms 200A, 200B, slave arms 300A, 300B, and a platform 400. In
operation, a user manipulates the master control arms to control
movement of the slave arms. As illustrated, the teleoperated
robotic system can include two master control arms and two slave
arms. It should be recognized that a teleoperated robotic system of
the present invention is not limited in the number or combination
of master control arms and slave arms and may only be limited by
intended use or other practical considerations. In a particular
aspect, a teleoperated robotic system after the manner disclosed
herein can include a single master control arm and a single slave
arm. Likewise, in another aspect, a teleoperated robotic system
after the manner disclosed herein can include a plurality of master
control arms and a plurality of slave arms, which can be the same
or different in number (e.g., two master control arms and three
slave arms controlled by the two master control arms).
[0107] Master control arms 200A and 200B can be similar in
construction and operation or can share other attributes such as
the number of DOF. As shown in the figure, one difference may be
that master control arm 200A is configured for a right side of the
user and master control arm 200B is configured for a left side of
the user. The same can be said for slave arms 300A and 300B.
However, it should be recognized that two or more master control
arms (or slave arms) need not be similarly configured and may
differ as to the number of DOF or other attributes.
[0108] In some exemplary embodiments, the master control arms and
the slave arms can be mounted or otherwise supported on or about a
platform 400. The platform 400 can comprise, for example, a mobile
platform, as shown in the figure, or one that is fixed at a
permanent location. In one aspect, a mobile platform can provide
support for the slave arms. In another aspect, a platform can
provide simultaneous or common support for the slave arms, as well
as the master control arms and a teleoperator, or user, of the
robotic system, thus permitting these to be part of an overall
mobile robotic system providing a mobile teleoperation function,
wherein the mobile robotic system also supports the user to
facilitate an on-board control capability within a mobile
teleoperated robotic architecture. The mobile platform can be
adapted to provide on-board support of a user within an operating
area (area about the mobile platform that receives a user and
allows the user to perform operational functions), the operating
area facilitating selective operation of both the master control
arms and the mobile platform. A mobile teleoperation function
further facilitates a dynamic and moveable zone of operation in
which the slave arms are operating, as well as a mobile zone of
operation in which the master control arms operate.
[0109] Whether the slave arms are supported about the mobile
platform in combination with the master control arms or whether the
master control arms are remotely located, if configured as a mobile
platform, the platform can allow at least part of the teleoperated
robotic system to be moved from place to place to locate the slave
arms in different positions for use. In the embodiment where the
master control arms and the slave arms are supported about the same
mobile platform, advantageously the user can be positioned on the
platform (i.e., the mobile platform comprising an operating area,
wherein the user is supported about the mobile platform and is able
to operate the teleoperated robotic device from the operating
area), such that the user is near the zone of operation, wherein
the user can see and hear, directly, the slave arms and the
workspace in which the slave arms operate. Visual and/or audio
information can enable the user to better manipulate the master
control arms to control movement of the slave arms.
[0110] As discussed below, in another aspect, the user and master
control arms can be remotely located relative to the slave arms. In
this case, the robotic system supporting the slave arms can include
various sensors (e.g., a camera, microphone, or other sensing
instruments) to convey information (e.g., visual and/or audio
information) from the workspace to the remote user. With the
received information reproduced from the slave arm workspace, the
user can manipulate the master control arms to control movement of
the slave arms in the workspace.
[0111] The master control arm can be configured to be manipulated
by the user to control the movement of a slave arm, wherein
movement by the user results in a corresponding movement by the
slave arm. For example, the user can grasp a handle 202 located at
a distal end of the master control arm 200A to manipulate the
master control arm. In general, the master control arm can include
joints and linkages that correspond to the user's arm, such that
movement of the user's arm causes the master control arm to move in
a manner similar to the user's movement. The slave arm can include
joints and linkages that correspond to the master control arm, and
thus, the user's arm as well. The movement of the master control
arm can then cause the slave arm to move in a manner similar to the
movement of the master control arm, thus allowing the user to
control movement of the slave arm.
[0112] Referring to FIGS. 2A and 2B, illustrated is master control
arm 200A. For simplicity, the master control arm 200A is shown
independent of other components of the robotic system, such as
master control arm 200B, slave arms 300A, 300B, and platform 400.
In one embodiment, master control arm 200A can be mounted,
installed, or otherwise associated with any platform such as those
taught by the present disclosure, such that the platform supports
the master control arm. In another embodiment, the master control
arm can be separate from the platform such that a slave arm
associated with the platform can be controlled by the master
control arm from a distance.
[0113] As used herein, the terms "kinematically equivalent" or
"kinematic equivalence" refer to a relationship between two or more
separate systems of rigid bodies, wherein the rigid bodies of each
system are linked by rotational joints to provide rotational
degrees of freedom (DOF). Kinematically equivalent systems have
similar corresponding rotational DOF, which are joined by similar
corresponding linkages that are proportional in length between the
systems. It is noted that "equivalent" or "equivalence" does not
refer to a kinematic identity between the systems. Indeed,
"kinematically equivalent" or "kinematic equivalence" can include
some degree of variation from true kinematic identity, as is
illustrated further below and throughout the present
disclosure.
[0114] In one aspect, the master control arm 200A can be
kinematically equivalent to a user's arm from the shoulder to the
wrist. A human arm includes seven degrees of freedom from the
shoulder to the wrist. Specifically, a human shoulder includes
three DOF: abduction/adduction, flexion/extension, and humeral
rotation. A human elbow includes one DOF. A human wrist can be
generalized to include three DOF: wrist rotation,
abduction/adduction, and flexion/extension. The upper arm extends
from the shoulder and is connected to the lower arm by the elbow.
The wrist is at the opposite end of the lower arm. The human arm
from the shoulder to the wrist can thus be generalized as a
kinematic system that includes a first joint having three
rotational DOF connected to a second joint having one DOF by a
first linkage, which is connected to a third joint having three DOF
by a second linkage.
[0115] The master control arm 200A can be configured as a kinematic
system to include DOF and linkages that correspond to the DOF and
linkages of the human arm from the shoulder to the wrist. For
example, a first support member 211 is coupled to base 210 at joint
231, which enables rotation about axis 221. The DOF about axis 221
represents a rotational DOF corresponding to abduction/adduction of
the human shoulder. As shown in FIG. 2, axis 221 is at about a 45
degree angle relative to a horizontal plane. Axis 221 can be
positioned from about 0 degrees to about 90 degrees relative to a
horizontal plane. A 45 degree angle for axis 221 can allow the base
210 to be positioned behind the user, which can be advantageous for
locating support apparatus for the master control arm to allow
unrestricted movement of the user during use of the master control
arm. Axis 221 can be offset (e.g., up to several feet) from the
user's shoulder and still form part of a system that is
kinematically equivalent to the user's arm. In one aspect, the DOF
about axis 221 is the least sensitive DOF in establishing kinematic
equivalence with the user's arm. In other words, more variation can
be tolerated here than between other corresponding DOF between the
master control arm and the user's arm.
[0116] First support member 211 can extend from the base 210 to
position joint 232 in the vicinity of the user's shoulder. Joint
232 is coupled to or connects a second support member 212 and forms
axis 222. The DOF about axis 222 represents a rotational DOF
corresponding to flexion/extension of the human shoulder. In some
aspects, joint 232 can be positioned to a side of the user's
shoulder. In other aspects, joint 232 can be above or below the
user's shoulder. In still other aspects, joint 232 can be in front
of or behind the user's shoulder. Joint 232 can be offset (e.g., up
to several feet) from the user's shoulder and still form part of a
system that is kinematically equivalent to the user's arm. In one
aspect, the DOF about axis 222 is the second least sensitive DOF in
establishing kinematic equivalence with the user's arm.
[0117] The second support member 212 extends from the joint 232 and
is coupled to or connects a third support member 231 by joint 233,
which forms axis 223. The DOF about axis 223 represents a
rotational DOF corresponding to humeral rotation of the human
shoulder. Joint 233 can be offset (e.g., up to several feet) from
the user's shoulder and still form part of a system that is
kinematically equivalent to the user's arm. In one aspect, the DOF
about axis 223 is the third least sensitive DOF in establishing
kinematic equivalence with the user's arm.
[0118] Thus, in a kinematically equivalent system, three separate
joints of the master control arm 200A can correspond to the single
joint of the human shoulder. In general, the DOF of the master
control arm corresponding to the human shoulder are the least
sensitive DOF in establishing kinematic equivalence between the
master control arm and the user's arm. In other words, the location
and orientation of the DOF of the master control arm corresponding
to the human shoulder can tolerate the most variation or offset
distance from the corresponding user's arm and still be considered
to provide kinematic equivalence with the user's arm. In such
cases, the various support members will comprise various lengths to
provide such offset distances of the respective joints. In a
particular aspect, the DOF of the master control arm corresponding
to the human shoulder can be ordered as abduction/adduction,
flexion/extension, and humeral rotation in increasing sensitivity
for establishing kinematic equivalence between the master control
arm and the human shoulder.
[0119] The second support member 212 and the third support member
213 combine to form a linkage between axis 222 and axis 224 that
corresponds to the human upper arm. The third support member 213 is
coupled to a fourth support member 214 by joint 234, which forms
axis 224. The DOF about axis 224 represents a rotational DOF
corresponding to a human elbow. In general, the linkage formed by
the second support member 212 and the third support member 213 can
position the joint 234 in the vicinity of the user's elbow, such as
to a side of the user's elbow. Joint 234 can be up to several feet
from the user's elbow and still form part of a system that is
kinematically equivalent to the user's arm. In one aspect, the DOF
about axis 224 is less tolerant of variation than the DOF
corresponding to the user's shoulder and thus is a more sensitive
DOF in establishing kinematic equivalence with the user's arm.
[0120] The fourth support member 214 is coupled to a fifth support
member 215 at joint 235, which forms axis 225. The DOF about axis
225 represents a rotational DOF corresponding to human wrist
rotation. The fifth support member 215 is coupled to a sixth
support member 216 at joint 236, which forms axis 226. The DOF
about axis 226 represents a rotational DOF corresponding to human
wrist abduction/adduction. The sixth support member 216 is coupled
to a seventh support member 217 at joint 237, which forms axis 227.
The DOF about axis 227 represents a rotational DOF corresponding to
human wrist flexion/extension. Thus, three separate joints of the
master control arm can correspond to the human wrist. It will be
recognized that the DOF of the master control arm corresponding to
the DOF of the user's wrist may be the most sensitive and least
tolerant of variation in establishing kinematic equivalence with
the user's arm from the shoulder to the wrist. Therefore, in one
aspect, the degree of permissible variation between kinematically
equivalent system can differ along the length of one of the
systems, thus providing different kinematic configurations. For
example, in another exemplary embodiment, the master control arm
may be configured to comprise any one or more support members
(e.g., those that provide the DOF corresponding to those in human
shoulder) that are longer or shorter than the ones illustrated in
FIGS. 1 and 2A-2B, thus facilitating the location of the respective
joints in a variety of different locations or positions such as may
be needed or desired.
[0121] In one aspect, the DOF about axis 227 is the most sensitive
to variation for kinematic equivalency, the DOF about axis 226 is
the second most sensitive, and the DOF about axis 225 is the third
most sensitive. Accordingly, axes 225, 226, 227 closely correspond
with the location of the user's wrist DOF. In one aspect, the axes
225, 226, 227 may be located within about six inches of the user's
wrist. In a more particular aspect, the axes 225, 226, 227 may be
located within about two inches of the user's wrist. In an even
more particular aspect, the axes 225, 226, 227 may be located
within about one inch of the user's wrist.
[0122] In certain aspects, a master control arm can include fewer
than seven DOF and still be considered kinematically equivalent to
a human arm to the extent of the corresponding DOF of the human
arm. In certain other aspects, a master control arm can include
greater than seven DOF and still be considered kinematically
equivalent to a human arm to the extent of the corresponding DOF of
the human arm. In this case, excess DOF that do not correspond to a
human arm may not be kinematically equivalent to the human arm.
[0123] The master control arm and the slave arm can have several
operating modes. One operating mode is position control. With
position control, the positions of the various DOF of the master
control arm are used to control the position of the various DOF of
the slave arm. The positional relation between the master control
arm and the slave arm can be a proportional relationship. In one
aspect, the proportional position relationship between the master
control arm and the slave arm can be a one-to-one relationship
where a certain amount of movement in the master control arm
results in the same amount of movement in the slave arm. This could
be a useful general-purpose control setting. In another aspect, the
proportional position relationship between the master control arm
and the slave arm can comprise something different than one-to-one.
For example, a relationship may exist where a large master control
arm movement results in a relatively small slave arm movement. This
could be useful when the user desires a precise movement or finer
control over the slave arm. In still another aspect, the
proportional position relationship between the master control arm
and the slave arm can comprise a relationship where a small master
control arm movement results in a relatively large slave arm
movement. This could be useful when the user desires a gross
movement to rapidly move the slave arm without excess or
unnecessary movement by the user.
[0124] In one aspect, the proportional relationships can be
consistent or they can vary among the corresponding DOF of the
master control arm and the slave arm. In another aspect, the
proportional relationships can be modified. For example, the system
can be configured to allow the user the freedom to alter the
proportional positional relationships between the master control
arm and the slave arm DOF during operation of the robotic system.
In one aspect, the user can vary the proportional relationships
using a manual control accessible while the user is operating the
master control arm. In a specific aspect, the manual control can
comprise a dial or button (e.g., one that is mounted on the master
control arm on or near the handle 202) that allows the user to dial
in or select a desired proportional relationship. In other
examples, the manual control can be via a touch screen mounted near
the user or elsewhere on the system, or can be via an application
on the users smart phone or other PDA device that wirelessly
communicates with the system. The manual control can be configured
to communicate with the various control systems in order to
manipulate the input/output relationship between the master and
slave.
[0125] In another aspect, the user can control the positional
boundaries of the workspace, for example to limit the workspace to
something smaller than the actual full reach of the slave arms,
such as by a range of motion limitation that will prohibit the
slave arm from extending beyond the imposed limit. Such limitations
can be initiated by the user using a user interface operable with
the various control systems. The user interface may be located on
the master control arm or at another user accessible location, such
as a control console.
[0126] Another operating mode includes force reflection from the
slave arm to the master control arm. With force reflection, the
user is provided with an additional sensory input for operating the
slave arms. Unlike positional control, where the slave arm will
operate to carry out the positional command from the master control
arm regardless of obstacles that may be in the path of the slave
arm, force reflection provides a proportional force feedback to the
user via the master control arm to indicate loads that the slave
arm is experiencing. For example, if the slave arm encounters an
obstacle while executing a positional command from the master
control arm, a load sensor on the slave arm can provide load
information that is communicated to the master control arm, and
actuators operable with the master control arm can apply a
proportional load to the user based on the load information, which
proportional load may be varied or different depending upon the
particular operating environment and what may be desired to be
applied to the user. With this force feedback, the user can more
intuitively control the slave arm in the operating environment
because it more closely resembles the user's experience operating
the user's own body in everyday life.
[0127] In one aspect, the system can be configured to apply a force
or load to the user that is proportional to the weight of an object
being picked up by the slave arm. For example, if an object weighs
500 pounds, the proportional force reflected load experienced by
the user could be 10 pounds. In another aspect, force reflection
functions can be implemented that apply a force or load to the user
when the slave arm encounters an object, wherein the user feels the
resistance of the object via the master control arm and can take
action to avoid or minimize harmful effects. Thus, force reflection
can be a safety feature of the robotic system.
[0128] In certain aspects, force reflection implementation can
include an increased load produced by the master control arm on the
user when the slave arm experiences an impact event. In other
words, an impact sensed by the load sensors can be reflected to the
user via the master control arm as a transient spike in load
disproportionate to the normal proportional setting for force
reflection. For example, when the slave arm collides with a wall,
the load sensors of the slave arm sense the impact. To alert the
user that an impact has occurred, the master control arm can
produce a load on the user that is disproportionately large
relative to the current proportional force reflective setting for a
brief period of time that can effectively represent the impact to
the user. For example, the force on the user produced on an impact
could be so disproportionately large that the user would not be
able to further move the master arm, effectively generating a hard
stop of the master control arm regardless of the strength of the
user or any existing momentum.
[0129] In certain aspects, the teleoperated robotic system can
include features to enhance the control that the master control arm
has over the slave arm. For example, the master control arm can
include a torque assistance function or feature to lessen the
forces and moments necessary to move the master control arm. With
torque assist, the system is tolerant of lower torque gains and
inaccurate mass properties. Torque assistance control at the master
control arm can help the operator overcome frictional forces in the
system such as joint friction, bearing friction, actuator friction,
and stiction, as well as viscous damping and dynamic inertial
effects of the master control arm and, to some extent, the slave
arm as well. The torque assistance can also assist the user in
overcoming loads in the master control arm that are due to force
reflection from the slave arm that can hinder the ability of the
user to control the slave arm. The user can overcome such loads
without this feature, but doing so repeatedly can fatigue the user.
Thus, although there are many positive aspects of force reflection
(e.g., enhanced sensory feedback), a teleoperated robotic system
can include a torque assistance feature to minimize the undesirable
effects of force reflection in the master control arm (e.g.,
increased resistance on the user, particularly noticeable when
initiating movement of the master control arm) to enhance the
user's ability to operate the master control arm to control the
slave arm.
[0130] In one aspect, a load sensor can be coupled to the master
control arm at a strategic interface location to facilitate
interaction or interfacing with the user. As used herein, a "load"
can include a force and/or a moment. Thus, a load sensor can sense
a force and/or a moment. The load sensor can be configured to sense
loads in multiple DOF, and to facilitate output of a load value.
The load sensor is capable of detecting linear and/or rotational
loads acting on the master control arm. For example, a multi-axis
load sensor, such as a six DOF load sensor, can measure three force
components along x, y, and z axes of the sensor as well as three
moment components acting about the axes. Thus, the load sensor can
detect whether the user is in forceful contact with the master
control arm. If so, the system can be configured to urge the master
control arm in a desired direction to manipulate the master control
arm, and to at least reduce the load from the forceful contact.
Using load sensor data, such as a force value or moment value, the
master control arm can move in response to a load applied to the
master control arm by the user, such as in the same direction as
the applied load.
[0131] For example, when the master control arm is stationary, a
forearm of the user may not be in forceful contact with the master
control arm. In a particular aspect, an applied load from the user
to the master control arm can be detected by a load sensor located
on a user interface device coupled to the master control arm
proximate to the user's forearm. In another particular aspect, this
can be detected by a load sensor associated with one or more DOF of
the master control arm, as discussed herein. To move the master
control arm proximate to the users forearm in a desired direction,
the user can apply a load to the user interface device and the
master control arm, such as by lowering the forearm or pushing the
forearm to the side. This load on the user interface device and the
master control arm caused by movement of the user causes the master
control arm to apply a torque to an actuator, which can be
configured to cause the master control arm to move (e.g., in the
direction of the applied load by the user), Such response by the
master control arm may be sequentially repeated many times until
the movement of the user's forearm is completed and the user ceases
to apply a load to the master control arm (i.e., there is no longer
forceful contact with the master control arm at the location of the
load sensor on the user interface device). This feature, as
indicated above, may be coupled or implemented with a force
reflection function, or can be implemented as a stand-alone system.
In any event, the master control arm can sense an applied load from
the user and can initiate a torque assistance to assist the user in
overcoming torque or forces in the master control arm that would
hinder movement in the users desired direction of movement. In one
aspect, the degree of torque assistance can be adjustable, such as
with an adjustable gain.
[0132] Torque assistance, or a torque assistance function,
therefore, can be incorporated into the master control arm to
enhance operation of the master control arm by the user. In other
words, with force reflection, the slave arm can exert some amount
of control on the master control arm. This enhanced mode of
operation can limit the negative effects on the user due to
resistance in the master control arm and/or the force reflection
from the slave arm on the master control arm, therefore maintaining
a proper functional relationship between the master control arm and
the slave arm. For example, due to force reflection in the master
control arm from the slave arm, the master control arm can be
configured to be resistant to movement by the user. Utilizing a
load sensor on the master control arm that is associated with one
or more DOF in the master control arm to detect loads applied by
the user and applying torque to the master control arm to cause the
master control arm to move can assist the user in overcoming the
resistance felt by the user in the master control arm. The torque
assistance function, while not being required to do so, is
typically configured so as to cause movement of the master control
arm in the direction of the applied load by the user. In one
aspect, the amount of torque assistance provided can be tuned to
enhance the "feel" of the master control arm during operation. In
some cases, the amount of torque assistance can be relatively
small, and may be insufficient to overcome a reflective force in
the master control arm.
[0133] Within the torque assistance function, a load sensor that
senses a load applied by the user and that is supported about the
master control arm and that is associated with one or more DOF in
the master control arm means that the load sensor can sense load
data and provide a load value that can be used at the various one
or more DOF to cause the master control arm to move in response to
the user applied load. In one exemplary embodiment, the load sensor
that receives the applied load from the user may be associated with
a user interface device and be located at a position offset from
the location of other load sensors at the joints. In another
exemplary embodiment, the torque assistance function may be
configured to utilize the already existing load cells at the joints
rather than requiring a separate load sensor within a user
interface device.
[0134] With the torque assist function, the master control arm
(e.g., at least two support members coupled at a joint) is caused
to move based, at least in part, on this load value. The torque
assist function can reduce user fatigue and improve ease of
operation of the master control arm by the user. In one aspect, the
torque assistance can be sufficient to at least assist the user in
overcoming the force reflective resistance load in the master
control arm. In another aspect, the gain can be set such that the
torque assistance can exceed the force reflective resistance load
in the master control arm.
[0135] In one aspect, the master control arm and/or the slave arm
(as well as any payload) can be gravity compensated. Compensating
for gravity can enhance the ability of the user to feel loads that
occur at the slave arm, such as the weight of payload being lifted
by the slave arm, which enables the user to react to such loads in
a natural way. The ability to provide force reflection from the
slave arm to the master control arm can be significantly enhanced
through the use of gravity compensation of the slave arm. A
relatively long slave arm, such as 4 to 10 feet in length, can
weigh hundreds of pounds. A complex, kinematically equivalent
master control arm may also add significant weight due to gravity.
Gravity compensation can provide a compensating torque on each DOF
axis to compensate for the effects of gravity for a slave arm
and/or a master control arm.
[0136] Gravity compensation involves measuring the effects of
gravity on each support member and adjusting the torque at each DOF
to compensate for the effects of gravity. In one example, one or
more support members of the master control arm(s) and/or the slave
arm(s) can include a separate measurement device that is used to
determine the direction of the gravitational pull (i.e. the gravity
vector) relative to a center of gravity of the support member.
Alternatively, a single measurement in a multi-axis system may be
taken with respect to a fixed frame of reference for the arm, such
as the base on which the arm is located. A transformation of the
frame of reference can then be calculated for each support member
and a determination can be made as to the level of torque needed at
each DOF to compensate for the gravitational pull based on the
position, center of gravity, and mass of the support member.
[0137] For example, a determination of the torque caused by the
gravitational force at each joint of a support member can be
determined using the Iterative Newton-Euler Dynamic Formulation.
The velocity and acceleration of each support member can be
iteratively computed and applied to each link from the first
segment (such as a first support member corresponding to a shoulder
axis) to the last segment (such as a seventh support member
corresponding to a wrist axis). While the Iterative Newton-Euler
Dynamic Formulation has been provided as one example of
implementing a gravity compensation function, a number of different
ways to incorporate gravity compensation in a robotic system can be
used, Once the amount of torque caused by the measured
gravitational vector is calculated at each joint, the torque can be
compensated for by applying an opposite torque to effectively
compensate for the force of gravity. The opposite torque may be
applied using an electric motor connected to each joint, or through
the use of hydraulic or pneumatic valves connected to actuators, as
previously discussed.
[0138] Lifting the weight of the master control arm to control the
slave arm can quickly fatigue the user. Gravity compensating the
master control arm can allow a user to utilize the master control
arm for extended periods without fatigue. In one aspect, to enable
the user to control the slave arm for extended periods, the master
control arm can be configured to support the weight of the user's
arm. This can allow the user to manipulate the slave arm while
minimizing the use of muscles needed to extend and move the user's
arm. Thus, the user's arm can be gravity compensated in addition to
the master control arm.
[0139] Gravitationally compensating the master control arm can
increase the sensitivity of the force feedback at the master
control arm that is sent from the slave arm. For example, the slave
arm may be set to have a load gain of 40 to 1. When a user
instructs the slave arm to pick up a 100 pound object, the force
feedback will increase the downward pressure at each joint in the
master control arm to simulate picking up approximately 2.5 pounds
(i.e., the weight felt by the user). However, the master control
arm itself may weigh a significant amount (e.g., 25 pounds). As
such, the relatively small change in weight in the master control
arm may be difficult to detect by the user. However, with gravity
compensation, the 2.5 pound change will be easily detectable to the
user as all or part of the inherent weight of the master control
arm may be gravity compensated. Thus, gravity compensation of the
master control arm enables the user to more accurately detect force
feedback from the slave arm. The same or same type of electric
motors and/or actuators can be used to provide both the gravity
compensation as well as the force feedback in the master control
arm.
[0140] In certain aspects, the payload being lifted by the slave
arm can be gravity compensated in addition to the slave arm. For
example, if desired, the user can "zero out" (or some degree up to
this) the weight of the payload, which will effectively cause the
slave arm and the payload to feel weightless to the user. In other
words, the user will not feel a proportional load of the payload
reflected to the user via the master control arm. As such, the
system may further comprise a user interface device or system on or
about the master control arm that facilitates user manipulation of
the level of gravity compensation of the slave arm.
[0141] With further reference to FIGS. 2A and 2B, the master
control arm 200A can include position sensors, which are associated
with the DOF of the master control arm. In one aspect, there is one
position sensor for each DOF. The position sensors can be located,
for example, at each of the joints 231, 232, 233, 234, 235, 236,
and 237. Because the DOF of the master control arm at these joints
are rotational, the position sensors can be configured to measure
angular position. In one aspect, the position sensors can detect a
change in position of the master control arm at each DOF, and
facilitate output of a position value. This change in position can
be used to cause a proportional change in position of the
corresponding DOF of the slave arm.
[0142] The position sensor can be an absolute position sensor that
enables the absolute position of each joint to be determined at any
time. Alternatively, the position sensor may be a relative position
sensor. The position sensors can include any type of suitable
position sensor for measuring a rotation of each joint, including
but not limited to an encoder, a rotary potentiometer, and other
types of rotary position sensors. One example of a position sensor
that can be used is an encoder disk produced by Gurley Precision
Instrument, Manufacturer Model No. P/N AX09178. The encoder disk
can be coupled to each joint 231-237 in the master control arm. An
encoder reader produced by Gurley Precision Instrument, Model No,
P/N 7700A01024R12U0130N, can be used to read the encoder disk to
provide an absolute position reading at each joint.
[0143] Additionally, the master control arm can include actuators,
which are associated with the DOF of the master control arm. The
actuators can be used to enable force reflection from the slave to
the master control arm. The actuators can also be used to enhance
operation of the master control arm by overcoming at least a
portion of the load reflected to the master by the slave when the
user moves the master control arm, such as with torque assistance.
Additionally, the actuators can be used to enable gravity
compensation of the master control arm.
[0144] In one aspect, there is one actuator for each DOF of the
master control arm. The actuators can be linear actuators, rotary
actuators, etc. The actuators can be operated by electricity,
hydraulics, pneumatics, etc. The actuators in the master control
arm 200A depicted in FIGS. 2A and 2B, for example, are hydraulic
linear actuators. The actuators may be operated through the use of
a hydraulic pump, such as that manufactured by Parker, P/N
PVP1630B2RMP.
[0145] Each actuator may be controlled using an electric motor.
Alternatively, hydraulic or pneumatic servo valves can be opened or
closed to enable a selected amount of hydraulic or pneumatic fluid
to apply a desired level of force to the actuator to apply a torque
to the corresponding joint. In one example, a servo valve can be
associated with each actuator, enabling a port to open to cause a
desired force to be applied by the actuator in a selected
direction. Another port can be opened to apply force in the
opposite direction. One type of servo valve that can be used is
manufactured by Vickers under part number SM4-10(5)19-200/20-10S39.
Another type of servo valve that can be used is manufactured by
Moog, model 30-400A. Additional types of servo valves may be used
based on design considerations including the type of valve, the
pressure at the valve, and so forth.
[0146] The master control arm 200A can include servo valves that
are hydraulically or pneumatically coupled to an actuator. For
example, a connecting line 470 can be coupled to a control valve
port 472 and an actuator port 474 to fluidly couple a control valve
and an actuator. Such a coupling is illustrative of other such
connections that can be implemented for fluidly coupling servo
valves and actuators throughout the master control arm and the
slave arm.
[0147] The master control arm can also include load sensors, which
are associated with the DOF of the master control arm. The load
sensors can be used to measure load in the master control arm,
which can be used to enable force reflection from the slave to the
master control arm. The load sensors can also be used to measure a
load applied by a user to the master control arm to enable enhanced
operation of the control arm, such as by torque assistance. In
addition, the load sensors can be used to enable gravity
compensation of the master control arm. The load sensors can
include any type of suitable load sensor including, but not limited
to, a strain gauge, a thin film sensor, a piezoelectric sensor, a
resistive load sensor, and the like. For example, load sensors that
may be used include load cells produced by Sensotec, P/N AL311CR or
P/N AL31DR-1A-2U-6E-15C, Futek, P/N LCM375-FSSH00675, or P/N
LCM325-FSH00672.
[0148] In one embodiment, there is one load sensor for each DOF of
the master control arm. Each DOF on the master control arm may
comprise at least one unique input describing how the DOF should
track the user's movements. Several DOF of the master control arm
can be accounted for with a multi-DOF load sensor. For example, a
multi DOF load sensor capable of measuring loads in six DOF could
be associated with axes 225, 226, 227, which correspond to the
wrist DOF of the user and axes 221, 222, 223, which corresponds to
the shoulder DOF of the user. A single DOF load sensor can be
associated with axis 224, which corresponds to the elbow DOF of the
user. Thus, load cells totaling seven DOF are sufficient to track
motion of a master control arm having seven DOE. Data from the
multi DOF load sensors can be used to calculate the load at a DOF
between the load sensor location and the base 210. The load sensors
can be located, for example, at each support member of the master
control arm. In one aspect, the load sensors can be associated with
the actuators, as discussed in more detail below.
[0149] Additionally, load sensors can be located at other locations
on the master control arm. For example, the master control arm 200A
can include a user interface device in the form of a handle 202 to
provide an interface with the user and to allow the user to operate
the master control arm. The handle can be coupled to a support
member, such as the seventh support member 217. In this embodiment,
the user is not physically secured or strapped to the system, but
rather is able to get into an operating position by simply grasping
the handle, wherein movement and manipulation of the master control
arm is achieved by applying various directional forces to the
handle (as associated with one or more load sensors). Such an
operating condition allows the user to experience and carry out
more natural and unrestrained motions, as well as to be able to
achieve more dexterous motions.
[0150] The handle 202 can also be coupled to a load sensor 268.
Load sensor 268 can be configured to measure a load in at least one
DOF, and in one aspect, is a multi DOF load sensor. Thus, the load
sensor 268 can be configured to measure a load applied by the user
to the handle 202. Load data acquired at the handle 202 can be used
to assist the user in manipulating and operating the master control
arm 200A, such as by torque assistance. Load sensor 268 at the
handle 202 can provide load data for a DOF of the master control
arm that is in addition to load data acquired by another load
sensor at the DOF of the master control arm. The load data from
load sensor 268 can be used to enhance the ability of the user to
manipulate and maneuver the master control arm, as discussed
herein.
[0151] In the present disclosure, it should be recognized that
references to specific sensors in the figures, such as load sensors
and position sensors, may refer to locations of the sensors in the
figures, and/or the sensors themselves. For example, load sensor
268 may be disposed within a housing at the location identified in
FIGS. 2A and 2B. Similarly, position sensors may be disposed within
housings or otherwise associated with various DOF at the locations
identified in the figures.
[0152] As illustrated in FIGS. 2B and 2C, a master control arm can
include or support a user interface device to provide the user with
another location from which to interface with and control the
master control arm. For example, a user interface device can be in
the form of an arm support, such as a bracket. FIG. 2B illustrates
one exemplary embodiment of an arm support in the form of a
bracket, namely support 206. FIG. 2C illustrates another exemplary
embodiment of an arm support in the form of a bracket, namely arm
support 207. As shown, the arm support 206 of FIG. 2B can be
configured to allow the user's arm to rest on a surface or portion
of the bracket. The arm support 207 of FIG. 2C can be configured to
include a hook or bend defining a channel for receiving part of the
user's arm. In this embodiment, vertical movements of the users arm
can be relatively unrestrained, while lateral movements by the user
can facilitate application of a load to the master control arm
through contact made with the arm support 207. Such an arm support
configuration can enhance the ability of the user to control a
master control arm utilizing torque assist when the bracket is
coupled to a load sensor, as discussed below. In yet another
embodiment, although not shown, but which will be recognized by one
skilled in the art, the arm support can be configured to support
the user's arm in a suspended fashion, such as with a strap or
sling. In general, the arm support can be coupled to any suitable
portion of the master control arm, such as to support member 214.
In the embodiments shown in FIGS. 2B and 20, the arm supports 206
and 207, respectively, are supported about the master control arm
200A at a location configured to support a forearm of the user.
[0153] The arm support can also be coupled to a load sensor. In the
embodiments shown in FIGS. 2B and 2C, the arm supports 206 and 207,
respectively, are coupled to and operable with load sensor 269. In
effect, load sensor 269 can be configured to measure a load in at
least one DOF, and in one aspect, is a multi DOF load sensor. Thus,
the load sensor 269 can be configured to measure a load applied by
the user to the arm support. Load data acquired at the arm support
can be used to assist the user in manipulating and operating the
master control arm, such as by torque assistance. The user
interface device may comprise at least one load sensor that is
offset from the joints that measures a load applied to the user
interface device, and the master control arm, by the user. The load
sensor provides load data for at least one degree of freedom that
is in addition to the load data from the load sensors associated
with the degree of freedom. The torque assistance function utilizes
such load data from the load sensor of the user interface device to
facilitate actuated movement of the master control arm in response
to a load applied to the master control arm by the user, and that
reduces the forces necessary to move the master control arm, Load
sensor 269 at the arm support can provide load data for a DOF of
the master control arm that is in addition to load data acquired by
another load sensor at the DOF of the master control arm. The load
data from load sensor 269 can be used separately or combined with
load data from load sensor 268 at the handle 202 to enhance the
ability of the user to manipulate and maneuver the master control
arm. In one aspect, the arm support and/or load sensor 269 can be
disposed at any suitable location on the master control arm, such
as at a location configured to be proximate to a user's upper
arm.
[0154] A bracket-type arm support configuration, such as bracket
207 of FIG. 2C, which essentially limits forces applied to the
master control arm to those applied normal to the master control
arm, can minimize the potential for an excessive amount of control
input from the user to the master control arm. In other words, user
input to the master control arm at wrist and elbow locations where
the master control arm is coupled to the user in all degrees of
freedom can result in conflicting commands from the wrist load
sensor 268 and the elbow load sensor 269, causing the master
control arm to be over-constrained. Thus, receiving loads normal to
the master control arm can enhance operation of the master control
arm while minimizing the potential for conflicting commands. It
should be recognized that a suitable user interface device at or
near the user's elbow need not be in the form of a bracket-type arm
support. Indeed, other user interface device configurations are
considered within the scope of the present invention, and are
contemplated herein. In most cases, however, it will be desirable
to limit the forces applied to the master control arm to those
applied normal to the master control arm, but this should not be
considered limiting in any way.
[0155] Utilizing load sensors 268, 269 to assist the user in moving
the master control arm facilitates or provides more fluid and
efficient control of the master control arm. For example, torque
assistance can be provided based on data gathered from the load
sensors 268, 269, which can be used to assist the user in moving
the master control arm when force feedback is received at the
master control arm. The torque assistance can also help the user to
overcome inertial forces when accelerating and decelerating the
master control arm. As it is conceivable that inertial forces may
contribute to user fatigue over time, implementing a torque
assistance function made possible through the use of load sensors
268, 269 will enable the user to provide small amounts of force in
a desired direction that will assist the user in moving and
manipulating the master control arm in spite of inertial forces,
feedback forces, frictional forces, and other loads that can cause
movement of the arm to be resisted. As indicated herein, the amount
of torque assistance can be limited such that force feedback from
the slave arm can still be felt by the user.
[0156] The master control arm 200A can also include a general DOF
controller (GDC) 271 associated with each DOF, In one example, a
separate GDC 271, 272, 273, 274, 275, 276 and 277 can be operable
with each of the axes in the master control arm 200A, The GDC can
be in communication with sensors, such as the load sensor and
position sensor, located at each joint. The GDC can also be in
communication with an actuator and/or servo valve at each joint.
Each GDC is used to monitor and adjust the position and torque at a
selected joint on the master control arm 200A, Information can also
be received at the GDC regarding the position and torque of the
associated or corresponding joint on the slave arm 300A. The
information regarding a torque measurement at each joint in the
slave arm can be communicated to the GDC for the associated or
corresponding joint in the master control arm, Additional inputs
from other types of sensors may be received as well. The GDC can
then output a command to the actuator or servo valve to adjust the
torque at the associated joint on the master control arm to provide
force feedback regarding the interaction of the slave arm with its
environment and/or with a load that is lifted by the slave arm. The
GDC at each axis can interact with the actuator 251 or servo valve
for the associated joint to adjust the torque at the joint and/or
move the DOF by a predetermined amount.
[0157] In one example, the GDC for each DOF on the master arm can
be a computer card containing one or more microprocessors
configured to communicate with the desired sensors and valves and
to perform calculations used to control the movements of the slave
arm about associated or corresponding axes on the slave arm. For
instance, the GDC can include a general purpose central processing
unit (CPU) such as an ARM processor, an Intel processor, or the
like. Alternatively, a field programmable gate array (FPGA),
application specific integrated circuit (ASIC) or other type of
processor may be used. The GDC can communicate with the sensors
using wired or wireless technologies or means. Various examples of
wired and wireless means of communication are discussed herein.
[0158] In the present disclosure, it should be recognized that
references to specific GDC and servo valves in the figures, may be
referring primarily to locations of the GDC and servo valves in the
figures, not necessarily to the GDC and servo valves themselves.
For example, GDC 276 may be disposed within a housing at the
location identified in FIGS. 2A and 2B. Similarly, servo valve 281
may be disposed within a housing at the location identified in
FIGS. 2A and 2B.
[0159] The master control arm 200A can also include a gravity
sensor 204 to determine the gravity vector, which can be used to
enable gravity compensation of the master control arm, discussed
further below. The gravity sensor can be associated with the master
control arm, such that the gravity sensor and the base of the
master control arm are fixed relative to one another. For example,
the gravity sensor can be located on the base 210 of the master
control arm or on a support for the base of the master control arm.
In certain aspects, a gravity sensor can be located on each linkage
or support member of the master control arm, such as at a center of
gravity of the linkage or support member. The gravity sensor can
include any type of suitable gravity sensor including, but not
limited to, at least one of a tilt sensor, an accelerometer, a
gyroscope, an inertial measurement unit, or a combination of these.
For example, a gravity sensor produced by Microstrain, Inc., P/N
3DM-GXI-SK may be used.
[0160] With reference to FIGS. 3A and 3B and further reference to
FIGS. 2A and 2B, illustrated are detailed views of the base 210 of
the master control arm 200A, the first support member 211 coupled
to the base 210 at joint 231, and a portion of the second support
member 212 coupled to the first support member 211 at joint 232.
Some features of the master control arm 200A have been omitted in
FIGS. 3A and 3B to show certain aspects of the master control arm
that are otherwise obscured from view. Position sensor 241 is
associated with joint 231 to sense a relative change in position
between the base 210 and the first support member 211. Actuator 251
can provide a torque acting about the DOF associated with axis 221
formed by joint 231. Load sensor 261, which is associated with
actuator 251, can measure a load acting about the DOF associated
with axis 221 formed by joint 231.
[0161] Actuator 251 is coupled to the base 210 at one end and
coupled to torque member 451 at an opposite end. Torque member 451
is coupled to the first support member 211 such that rotation of
the torque member 451 causes rotation of the first support member
211. Torque member 451 rotates about axis 221 and extends away from
the axis 221 to provide a lever arm and a coupling interface with
the actuator 251. Thus, movement of the actuator 251 causes
movement of the torque member 451, which causes movement of the
first support member 211 relative to the base 210 about axis
221.
[0162] Actuator 251 is fluidly coupled to servo valve 281, which
controls hydraulic fluid pressure acting on both sides of a piston
of the linear actuator. Thus, the servo valve control can cause the
piston to move back and forth to cause bi-directional rotation of
the first support member about axis 221. Servo valve 281 is
electrically coupled to GDC 271, which controls actuation of the
actuator 251 via control signals to the servo valve. As mentioned
above, the GDC 271 can receive position and/or load data from
sensors, such as position sensor 241 and load sensor 261, to
operate the actuator 251. The position sensor 241 is located at one
end of joint 231 to measure relative rotation between the base 210
and the first support member 211. The load sensor 261 is coupled to
the torque member 451 to measure a load acting on the torque
member.
[0163] FIGS. 3A and 3B further illustrate that position sensor 242
is associated with joint 232 to sense a relative change in position
between the first support member 211 and the second support member
212. Actuator 252 can provide a torque acting about the DOF
associated with axis 222 formed by joint 232. Load sensor 262,
which is associated with actuator 252, can measure a load acting
about the DOF associated with axis 222 formed by joint 232.
[0164] Actuator 252 is coupled to the first support member 211 at
one end and to first linkage 452 at an opposite end. First linkage
452 is coupled to the first support member 211 at pivot 420 and to
a second linkage 462 at pivot 422. Second linkage 462 is coupled to
the second support member 212 at pivot 424. Rotation of the first
linkage 452 and the second linkage 462 relative to the first
support member 211 causes rotation of the second support member 212
about axis 222. Thus, movement of the actuator 252 causes movement
of the first linkage 452 and the second linkage 462, which causes
movement of the second support member 212 about axis 222. In the
position shown in FIGS. 3A and 3B, pivot 424 is located at an
opposite side of joint 232 from the actuator 252. As the actuator
252 retracts, first linkage 452 rotates about pivot 420 and pulls
pivot 422 away from axis 222, as second linkage 462 pulls pivot 424
to cause clockwise motion of the second support member 212. This
configuration therefore can generate a sufficient range of rotation
of the second support member 212 relative to the first support
member 211 to replicate a human flexion/extension shoulder
movement.
[0165] Actuator 252 is fluidly coupled to servo valve 282, which is
electrically coupled to GDC 272 and can receive position and/or
load data from sensors, such as position sensor 242 and load sensor
262, to operate the actuator 252. The position sensor 242 is
located at one end of joint 232 to measure relative rotation
between the first support member 211 and the second support member
212. The load sensor 262 is coupled to the second linkage 462 to
measure a load acting on the second linkage 462.
[0166] In one aspect, a range of motion limiter can be incorporated
to physically interfere with the movement of the base or a support
member relative to an adjacent coupled support member. For example,
limiter 476 is an illustration of a physical limiter or stop and is
coupled to the first support member 211. The limiter 476 can be
located and configured to contact a portion of the second support
member 212 as the second support member rotates relative to the
first support member 211. Physical limiters or stops can prevent
excess motion that may damage the master control arm or endanger
the user. In another aspect, the teleoperated robotic system can
implement additional range of motion controls, such as programmed
limits and can decelerate the master control arm as it nears a
physical limit to prevent an impact with the physical limiter. Such
limiters can be employed throughout the master control arm and/or
the slave arm.
[0167] With reference to FIGS. 4A and 4B and further reference to
FIGS. 2A and 2B, illustrated are detailed views of parts of the
master control arm 200A, namely the second support member 212, the
third support member 213 coupled to the second support member 212
at joint 233, and a portion of the fourth support member 214
coupled to third support member 213 at joint 234. Some features of
the master control arm have been omitted in FIGS. 4A and 4B to show
certain aspects of the master control arm that are otherwise
obscured from view. Position sensor 243 is associated with joint
233 to sense a relative change in position between the second
support member 212 and the third support member 213. Actuator 253
can provide a torque acting about the DOF associated with axis 223
formed by joint 233. Load sensor 263, which is associated with
actuator 253, can measure a load acting about the DOF associated
with axis 223 formed by joint 233.
[0168] Actuator 253 is coupled to the third support member 213 at
one end and coupled to torque member 453 at an opposite end. Torque
member 453 is coupled to the second support member 212 such that
rotation of the torque member causes rotation of the second support
member. Torque member 453 rotates about axis 223 and extends away
from the axis to provide a lever arm and a coupling interface with
the actuator 253. Thus, movement of the actuator causes movement of
the torque member 453, which causes movement of the third support
member 213 relative to the second support member 212 about axis
223. Actuator 253 is fluidly coupled to servo valve 283, which is
electrically coupled to GDC 273 and can receive position and/or
load data from sensors, such as position sensor 243 and load sensor
263, to operate the actuator 253. The position sensor 243 is
located at one end of joint 233 to measure relative rotation
between the second support member 212 and the third support member
213. The load sensor 263 is coupled to the torque member 453 to
measure a load acting on the torque member.
[0169] FIGS. 4A and 4B further illustrate that position sensor 244
is associated with joint 234 to sense a relative change in position
between the third support member 213 and the fourth support member
214. Actuator 254 can provide a torque acting about the DOE
associated with axis 224 formed by joint 234, Load sensor 264,
which is associated with actuator 254, can measure a load acting
about the DOF associated with axis 224 formed by joint 234.
[0170] Actuator 254 is coupled to the third support member 213 at
one end and to first linkage 454 at an opposite end. First linkage
454 is coupled to the third support member 213 at pivot 426 and to
a second linkage 464 at pivot 428. Second linkage 464 is coupled to
the second support member 212 at pivot 430. Rotation of the first
linkage 454 and the second linkage 464 relative to the third
support member 213 causes rotation of the fourth support member 214
about axis 224. Thus, movement of the actuator 254 causes movement
of the first linkage 454 and the second linkage 464, which causes
movement of the fourth support member 214 about axis 224. The
configuration of first linkage 454 and second linkage 464 is
similar to that of first linkage 452 and second linkage 462 shown
in FIGS. 3A and 3B. This configuration therefore can generate a
sufficient range of rotation of the fourth support member 214
relative to the third support member 213 to replicate a human elbow
movement.
[0171] Actuator 254 is fluidly coupled to servo valve 284, which is
electrically coupled to GDC 274 and can receive position and/or
load data from sensors, such as position sensor 244 and load sensor
264, to operate the actuator 254. In the figures, GDC 273 and GDC
274 are at the same location on the third support member 213.
Additionally, servo valve 283 and servo valve 284 are at the same
location on the third support member 213.
[0172] The position sensor 244 is located at one end of joint 234
to measure relative rotation between the third support member 213
and the fourth support member 214. The load sensor 264 is coupled
to the second linkage 464 to measure a load acting on the second
linkage.
[0173] With reference to FIGS. 5A and 5B, and continued reference
to FIGS. 2A and 2B, the master control arm 200A can include
structure that positions the wrist DOF of the user in sufficient
alignment with the corresponding DOF of the master control arm
about axes 225, 226, and 227, such that kinematic equivalency can
result. The wrist positioning structure, or wrist unit 201, is
configured to support the handle 202 such that when the user is
grasping the handle to manipulate the master control arm, the
user's wrist is appropriately positioned relative to the DOF of the
master control arm corresponding to the DOF of the user's
wrist.
[0174] The wrist positioning structure can include an extension
member 218. The extension member 218 can be integral with or
attached to the fourth support member 214. In one aspect, the
extension member 218 can be configured to extend beyond the handle
202 to position the joint 235 in front of the user's hand. The
extension member 218 can also provide an offset for the axis 225
relative to the fourth support member 214. The extension member 218
can be configured to position the axis 225 to sufficiently align
with the corresponding DOF of the user's wrist. The fifth support
member 215 can offset the joint 236 to be on a side of the user's
wrist and can be configured to position the joint 236 behind the
handle 202, such that the user's wrist will be sufficiently aligned
with the axis 226. The sixth support member 216 can offset the
joint 237 to be on another side of the wrist. The handle 202 is
offset forward of the joint 237, such that when the user grasps the
handle, the user's wrist will be sufficiently aligned with the axis
227. The seventh support member 217 can be configured to position
the handle 202 beyond, or in front of, the axes 226, 227. In one
aspect, the axes 225, 226, 227 can be orthogonal to one another and
can be configured to sufficiently align with the DOF of the user's
wrist.
[0175] In certain aspects, the extension member 218 can provide an
offset for the axis 225 relative to the fourth support member 214,
the second support member 212, and/or the third support member 213.
This offset can provide a space for the user's arm and can position
the fourth support member 214, the second support member 212,
and/or the third support member 213 to a side of the user's arm.
For example, the extension member 218 can position the axis 225
such that it is sufficiently aligned with the corresponding wrist
DOF of the user when the user is grasping the handle 202 and
provide enough room for the user's arm next to the master control
arm.
[0176] In other aspects, the fourth support member 214, the
extension member 218, the fifth support member 215, the sixth
support member 216, and the seventh support member 217 can be
configured to provide sufficient space around the handle to
accommodate buttons, switches, levers, or other control structures
or user interface devices to allow the user to control the robotic
system 100.
[0177] The structure of the wrist unit 201 can provide a master
control having three orthogonal axes corresponding to the three
human wrist DOF that substantially align with the actual wrist DOF
of the system operator. Additionally, the wrist unit 201 structure
can accommodate a position sensor, a load sensor, and/or an
actuator for each DOF of the wrist unit. Thus, the wrist unit 201
can be suitable for position control of a slave arm, load control
of a slave arm, force reflection feedback from a slave arm, gravity
compensation of the wrist unit, torque assistance of the wrist
unit, and combinations thereof.
[0178] With reference to FIGS. 5C and 5D, the arrangement of
position sensor 245, actuator 255, and load sensor 265 of the wrist
unit is shown. This arrangement can be used in connection with the
position sensor, actuator, and load sensor associated with any of
joints 235, 236, 237. For example, actuator 255 is coupled to
torque member 455 at one end of the actuator and is coupleable to a
linkage or support member, such as extension member 218, at an
opposite end of the actuator. Torque member 455 is coupleable via
interface 432 to a linkage or support member of the master control
arm, such as the fifth support member 215, such that rotation of
the torque member causes rotation of the linkage or support member,
Torque member 455 is rotatable about an axis, such as axis 225, and
extends away from the axis to provide a lever arm and a coupling
interface with the actuator 255. Thus, movement of the actuator 255
causes movement of the torque member 455, which causes movement of
the support member coupled to the torque member about an axis. This
movement can be measured by the position sensor 245. Load sensor
265 is associated with the actuator 255 to measure a load in the
actuator.
[0179] With continued reference to FIGS. 5A and 5B, position sensor
245 is associated with joint 235 to sense a relative change in
position between the fifth support member 215 and the extension
member 218. Actuator 255 can provide a torque acting about the DOF
associated with axis 225 formed by joint 235. Load sensor 265 can
measure a load acting about the DOF associated with axis 225 formed
by joint 235. Actuator 255 is fluidly coupled to servo valve 285,
which is electrically coupled to GDC 275 and can receive position
and/or load data from sensors, such as position sensor 245 and load
sensor 265, to operate the actuator 255.
[0180] Furthermore, position sensor 246 is associated with joint
236 to sense a relative change in position between the sixth
support member 216 and the fifth support member 215. Actuator 256
can provide a torque acting about the DOF associated with axis 226
formed by joint 236. Load sensor 266 can measure a load acting
about the DOF associated with axis 226 formed by joint 236.
Actuator 256 is fluidly coupled to servo valve 286, which is
electrically coupled to GDC 276 and can receive position and/or
load data from sensors, such as position sensor 246 and load sensor
266, to operate the actuator 256.
[0181] Additionally, position sensor 247 is associated with joint
237 to sense a relative change in position between the seventh
support member 217 and the sixth support member 216. Actuator 257
can provide a torque acting about the DOF associated with axis 227
formed by joint 237. Load sensor 267 can measure a load acting
about the DOF associated with axis 227 formed by joint 237.
Actuator 257 is fluidly coupled to servo valve 287, which is
electrically coupled to GDC 277 and can receive position and/or
load data from sensors, such as position sensor 247 and load sensor
267, to operate the actuator 257.
[0182] Referring to FIGS. 6A and 6B, illustrated is robotic slave
arm 300A. For simplicity, slave arm 200A is shown independent of
other components of the robotic system, such as master control arms
200A, 200B, slave arm 300B, and platform 400. The slave arm 300A
can be mounted, installed, or otherwise associated with any fixed
or mobile platform or other structure such that the platform or
other structure supports the slave arm via a support structure or
system. Typically, the slave arm is supported by the platform in a
manner that allows the slave arm to interact with objects in a
workspace or operating environment of the teleoperated robot. The
slave arm at least partially defines a "zone of operation" in which
the slave arm operates.
[0183] As mentioned above, a master control arm can be
kinematically equivalent to a user's arm from the shoulder to the
wrist. In a similar manner, a slave arm can be kinematically
equivalent to a master control arm. Thus, the master control arm
and the slave arm can be kinematically equivalent to a user's arm
from the shoulder to the wrist.
[0184] The slave arm 300A can be configured as a kinematic system
to include DOF and linkages that correspond to the DOF and linkages
of the master control arm 200A and a human arm from the shoulder to
the wrist. In one embodiment, although not to be considered
limiting, the lengths of the linkages of the slave can be
proportional to corresponding linkage lengths of the master control
arm.
[0185] In general, the master control arm is configured to
interface with a human user, thus certain of the structural
features and characteristics may be the result of this objective.
In some cases, remnants of these structural features and
characteristics may be carried over and incorporated into the slave
arm, in order to maintain or enhance kinematic equivalency. For
example, as shown in FIG. 6A, with the first support member 311
coupled to a base 310 axis 321 may be caused to be at about a 45
degree angle relative to a horizontal plane. This configuration may
not be necessary for a functional slave arm, but it is similar to
that of the master control arm and contributes to kinematic
equivalency between the master control arm and the slave arm. In
other cases, some structural features and characteristics of the
master control arm that facilitate the human interface may not be
incorporated into the slave arm. For example, the slave arm can
operate effectively, both as a functional slave arm and as a
kinematic equivalent to the master control arm, without
incorporating the structure of the master control arm corresponding
to the user's wrist DOE Thus, in some instances, the structure and
apparatus of the slave arm may be more simplified or caused to more
closely replicate a human arm than corresponding structure of the
master control arm.
[0186] In certain aspects, a slave arm can include fewer than seven
DOE and still be considered to be kinematically equivalent to a
human arm or a master control arm to the extent of the
corresponding DOE of the human arm or master control arm. In
certain other aspects, a slave arm can include greater than seven
DOE and still be considered to be kinematically equivalent to a
human arm or a master control arm to the extent of the
corresponding DOE of the human arm or master control arm. In this
case, excess DOE that do not correspond to a human arm or a master
control arm may not be kinematically equivalent to the human arm or
master control arm.
[0187] As illustrated in FIGS. 6A and 6B, a first support member
311 is coupled to base 310 at joint 331, which enables rotation
about axis 321. The DOE about axis 321 represents a rotational DOE
corresponding to the DOE about axis 221 of the master control arm
and abduction/adduction of the human shoulder. As mentioned above,
a first support member 311 can extend from the base 310 to position
joint 332 proportional to the corresponding features of the master
control arm. Joint 332 is coupled to a second support member 312
and forms axis 322. The DOE about axis 322 represents a rotational
DOE corresponding to the DOE about axis 222 of the master control
arm and flexion/extension of the human shoulder.
[0188] The second support member 312 extends from the joint 332 and
is coupled to a third support member 313 to form joint 333, which
forms axis 323. The DOE about axis 323 represents a rotational DOE
corresponding to the DOE about axis 223 of the master control arm
and humeral rotation of the human shoulder. Thus, the slave can
include three separate joints that correspond to the three separate
joints of the master control arm, which correspond to the single
joint of the human shoulder in kinematically equivalent
systems.
[0189] The second support member 312 and the third support member
313 combine to form a linkage disposed between joint 332 and joint
334 that corresponds to the linkage formed by second support member
212 and third support member 213 of the master control arm and to
the human upper arm between the shoulder and the elbow. The third
support member 313 is coupled to a fourth support member 314 by
joint 334, which forms axis 324. The DOF about axis 324 represents
a rotational DOF corresponding to the DOF about axis 224 of the
master control arm and a human elbow.
[0190] The fourth support member 314 is coupled to a fifth support
member 315 at joint 335, which forms axis 325. The DOF about axis
325 represents a rotational DOF corresponding to the DOF about axis
225 of the master control arm and human wrist rotation. The fifth
support member 315 is coupled to a sixth support member 316 at
joint 336, which forms axis 326. The DOF about axis 326 represents
a rotational DOF corresponding to the DOF about axis 226 of the
master control arm and human wrist abduction/adduction. The sixth
support member 316 is coupled to a seventh support member 317 at
joint 337, which forms axis 327. The DOF about axis 327 represents
a rotational DOF corresponding to the DOF about axis 227 of the
master control arm and human wrist flexion/extension.
[0191] In one aspect, the DOF structure of the slave arm more
closely resembles the DOF of the human wrist. For example, the DOF
about axis 325 is similar to a human wrist in that the DOF
structure is located in the "forearm" of the slave arm. Likewise,
the DOF about axes 326, 327 of the slave arm is similar to a human
wrist in that the DOF structure is located in the "wrist" of the
slave arm. Thus, structure forming axes 325, 326, 327 of the slave
arm more closely resemble a human wrist than the corresponding
structure of the master control arm. In spite of the various
similarities and differences, kinematic equivalency can exist
across the three systems.
[0192] The slave arm can also include actuators, which are
associated with the DOF of the slave arm. The actuators can be used
to cause rotation about a given DOF axis of the slave arm based on
a change of position of the master control arm, discussed further
below. The actuators can also be used to enable gravity
compensation of the slave arm. In one aspect, there is one actuator
for each DOF of the slave arm. The actuators can be linear
actuators, rotary actuators, etc. The actuators can be operated by
electricity, hydraulics, pneumatics, etc. The actuators in the
slave arm depicted in FIGS. 6A and 6B, for example, are hydraulic
linear actuators.
[0193] The slave arm can also include position sensors, which are
associated with the DOF of the slave arm. In one aspect, there is
one position sensor for each DOF. The position sensors can be
located, for example, at each of the joints 331, 332, 333, 334,
335, 336, and 337. Because the DOF of the slave arm at these joints
are rotational, the position sensors can be configured to measure
angular position.
[0194] In one aspect, the position sensors can detect a change in
position of the slave arm at each DOF, such as when the actuators
cause rotation about the DOF axes. When the position of the slave
about the slave arm DOF axes reaches a position proportional to a
position of the master control arm at the corresponding DOF axes,
the actuators cease causing movement of the slave arm. In this way,
the position of the master control arm can be proportionally
matched by the slave arm. As with the master control arm, the
position sensors of the slave arm can include any type of suitable
position sensor.
[0195] The slave arm can also include load sensors, which are
associated with the DOF of the slave arm. The load sensors can be
used to measure a load in the slave arm, which load can be
proportionally reproduced by the actuators of the master control
arm. In other words, a load in the slave arm can cause a
corresponding load to be exerted within the master control arm. In
this way, a load "felt" at the slave arm can be transmitted to the
master control arm and, thus felt by the user to the same degree or
some proportional amount. This force reflection aspect thus
includes the slave arm at least somewhat controlling the master
control arm via the torque commands. The load sensors can also be
used to enable gravity compensation of the slave arm. In addition,
the load sensors can be used to measure a load applied by a user to
the slave arm.
[0196] In one aspect, there is one load sensor for each DOF of the
slave arm. In another aspect, several DOF of the slave arm can be
accounted for with a multi DOF load sensor. For example, a multi
DOF load sensor capable of measuring loads in six DOF could be
associated with axes 325, 326, 327, which correspond to the wrist
DOF of the user and axes 321, 322, 323, which corresponds to the
shoulder DOF of the user. A single DOF load sensor can be
associated with axis 324, which corresponds to the elbow DOF of the
user. Data from the multi DOF load sensors can be used to calculate
the load at a DOF between the load sensor location and the base
310.
[0197] The load sensors can be located, for example, at each
support member of the slave arm. In one aspect, the load sensors
can be associated with the actuators, as discussed in more detail
below. As with the master control arm, the load sensors of the
slave arm can include any type of suitable load sensor.
[0198] Additionally, load sensors can be located at other locations
on the slave arm. For example, a load sensor 368 can be located on
seventh support member 317. Load sensor 368 can be configured to
measure loads acting on the seventh support member 317 through end
effector 390. Load sensor 368 can be configured to measure load in
at least one DOF, and in one aspect, is a multi DOF load
sensor.
[0199] End effector 390 can be located at an extremity of the slave
arm and can be configured to serve a variety of uses, as discussed
below. For example, the end effector can be configured to lift and
secure a payload for manipulation by the slave arm. Thus, load
sensor 368 can measure loads imparted by the payload and the end
effector on the seventh support member 317. Load data acquired at
the end effector can be used to enhance the ability of the slave
arm to support and maneuver the end effector and payload.
[0200] The slave arm 300A can also include a GDC 371 associated
with each DOF. In one example, a separate GDC 371, 372, 373, 374,
375, 376 and 377 can be operable about each of the axes in the
slave arm 300A. The GDCs of the slave arm can be similar to, and
serve the same purpose as, the GDCs of the master control arm.
[0201] The slave arm 300A can also include servo valves 381, 382,
383, 384, 385, 386, 387. Servo valves can be fluidly coupled to
actuators of the slave arm, such as hydraulic actuators, and can
receive commands from the GDCs to operate the actuators. The servo
valves of the slave arm can be similar to the servo valves of the
master control arm.
[0202] The slave arm 300A can also include a gravity sensor 304 to
determine the gravity vector, which can be used to enable gravity
compensation of the slave arm, discussed further below. The gravity
sensor can be associated with the slave arm, such that the gravity
sensor and the base of the slave arm are fixed relative to one
another. For example, the gravity sensor can be located on the base
310 of the slave arm or on a support for the base of the slave arm.
The gravity sensor of the slave arm can be similar to, and perform
the same function as a gravity sensor for the master control arm.
In certain aspects, only a single gravity sensor may be used when
the master control arm and the slave arm are fixed to a common
platform, as in FIG. 1. In certain other aspects, the master
control arm and the slave arm can each have a gravity sensor when
the master control arm and the slave arm are on separate platforms,
as in FIG. 18. In still other aspects, a gravity sensor can be
located on each linkage or support member of the slave arm, such as
at a center of gravity of the linkage or support member.
[0203] With reference to FIGS. 7A and 7B and further reference to
FIGS. 6A and 6B, illustrated are detailed views of the base 310
that couples to the platform via a support member or system, the
first support member 311 coupled to the base 310 at joint 331, and
a portion of the second support member 312 coupled to the first
support member 311 at joint 332. Some features of the slave arm
have been omitted in FIGS. 7A and 7B to show certain aspects of the
slave arm that are otherwise obscured from view. Position sensor
341 is associated with joint 331 to sense a relative change in
position between the base 310 and the first support member 311.
Actuator 351 can provide a torque acting about the DOF associated
with axis 321 formed by joint 331. Load sensor 361, which is
associated with actuator 351, can measure a load acting about the
DOF associated with axis 321 formed by joint 331.
[0204] Actuator 351 is coupled to the base 310 at one end and
coupled to torque member 551 at an opposite end. Torque member 551
is coupled to the first support member 311 such that rotation of
the torque member causes rotation of the first support member.
Torque member 551 rotates about axis 321 and extends away from the
axis to provide a lever arm and a coupling interface with the
actuator 351. Thus, movement of the actuator causes movement of the
torque member 351, which causes movement of the first support
member 311 relative to the base 310 about axis 321.
[0205] Actuator 351 is fluidly coupled to servo valve 381, which
controls hydraulic fluid pressure acting on both sides of a piston
of the linear actuator. Thus, the servo valve control can cause the
piston to move back and forth to cause bi-directional rotation of
the first support member about axis 321. Servo valve 381 is
electrically coupled to GDC 371, which controls actuation of the
actuator 351 via control signals to the servo valve. As mentioned
above, the GDC can receive position and/or load data from sensors,
such as position sensor 341 and load sensor 361, to operate the
actuator. The position sensor 341 is located at one end of joint
331 to measure relative rotation between the base 310 and the first
support member 311. The load sensor 361 is coupled to the actuator
351 to measure load in the actuator.
[0206] FIGS. 7A and 7B further illustrate that position sensor 342
is associated with joint 332 to sense a relative change in position
between the first support member 311 and the second support member
312. Actuator 352 can provide a torque acting about the DOF
associated with axis 322 formed by joint 332. Load sensor 362,
which is associated with actuator 352, can measure a load acting
about the DOF associated with axis 322 formed by joint 332.
[0207] A clamp valve 481 can be used to fluidly isolate actuator
351 from servo valve 381 associated with actuator 351. In other
words, the clamp valve 481 can function to lock the actuator 351 to
prevent movement of the associated DOF for safety and other
reasons. Thus, in one aspect, clamp valves can be used as a safety
measure in case of a hydraulic or electrical system failure. In
another aspect, clamp valves can be used to lock the slave arm in
position while supporting a payload. For example, the slave arm can
lift and manipulate an object into a desired position. Once the
object has been properly positioned by the slave arm, clamp valves
can lock the slave arm in that position indefinitely to perform the
intended task. Once the desired task has been completed, the clamp
valves can be caused to allow the slave arm to again move as
actuated under servo valve control. The clamp valve can be
automatically controlled, such as in a safety feature that locks
the slave arm when a preset condition has been satisfied, or user
controlled, such as by a switch or other means when the user
desires to lock the slave arm to weld or perform some other task.
Clamp valves can be utilized at any slave arm DOF and in any slave
arm DOF combination. Of course, clamp valves can also be employed
on the master control arm as will be appreciated by those skilled
in the art.
[0208] As schematically illustrated in FIG. 7C, the servo valve 381
can be fluidly connected to "A" and "B" sides of the actuator 351.
The clamp valve 481 can operate to open or close the "A" and "B"
connections. The clamp valve 481 can include a directional valve
482 having three ports and two discrete positions. As shown, the
directional valve is in a normally closed position and is solenoid
controlled with a spring return to closed position. The directional
valve 482 acts as a pilot valve for check valves 483, 484, 485,
486. The check valves require pilot pressure to open. Check valves
483, 485 are coupled to the "A" connection and check valves 484,
486 are coupled to the "B" connection. A pressure relief valve 487
in a normally closed position can also be included.
[0209] In operation, pressure from the servo valve 381 through the
"A" connection is blocked by check valve 485 unless the solenoid of
the directional valve 482 has been actuated to provide a pilot
pressure to open the check valve 485. Once check valve 485 has been
opened, pressure can be delivered to the "A" side of the actuator
351 to cause the actuator to move. Similarly, check valve 486
blocks the servo valve 381 "B" connection unless the directional
valve 482 has been actuated to provide a pilot pressure to open the
check valve 486. The directional valve 482 must be actuated to
provide a pilot pressure for check valves 485, 486 in order for the
servo valve 381 to control the actuator 351. Likewise, check valves
483, 484 block flow from the actuator 351 to the servo valve 381
through the "A" and "B" connections, respectively, unless the
solenoid of the directional valve 482 has been actuated to provide
a pilot pressure to open the check valves 483, 484. When the check
valves 483, 484 are closed, the actuator 351 is locked in position.
The directional valve 482 is connected to the check valves 483,
484, 485, 486 such that all the check valves are open or closed at
the same time. Therefore, when the solenoid of the directional
valve is actuated to provide a pilot pressure to open the check
valves, the "A" and "B" connections are open and the servo valve
381 can control the movement of the actuator 351. On the other
hand, when the solenoid is not actuated and the check valves are
closed, the "A" and "B" connections are blocked and the servo valve
381 cannot control movement of the actuator 351 and the actuator is
locked in position. Thus, the clamp valve 481 can fluidly isolate
the actuator 351 from the servo valve 381. It should be recognized
that the clamp valve in this example can be coupled with any servo
valve and actuator of the slave arm or master control arm discussed
herein, Additionally, the pressure relief valve 487 can be set to
open at a predetermined pressure to prevent damage to the actuator,
clamp valve components, and/or connecting lines therebetween.
[0210] Actuator 352 is coupled to the first support member 311 at
one end and to first linkage 552 at an opposite end of the
actuator. First linkage 552 is coupled to the first support member
311 at pivot 520 and to a second linkage 562 at pivot 522. Second
linkage 562 is coupled to the second support member 312 at pivot
524. Rotation of the first linkage 552 and the second linkage 562
relative to the first support member 311 causes rotation of the
second support member 312 about axis 322. Thus, movement of the
actuator 352 causes movement of the first linkage 552 and the
second linkage 562, which causes movement of the second support
member 312 about axis 322. The linkage configuration formed by the
first support member 311, first linkage 552, second linkage 562,
and the second support member 312 forms a four-bar linkage. This
configuration can be utilized to increase a range of rotation of
the second support member 312 about axis 222 relative to the first
support member 311.
[0211] Actuator 352 is fluidly coupled to servo valve 382, which is
electrically coupled to GDC 372 and can receive position and/or
load data from sensors, such as position sensor 342 and load sensor
362, to operate the actuator 352. The position sensor 342 is
located at joint 332 to measure relative rotation between the first
support member 311 and the second support member 312. The load
sensor 362 is coupled to the actuator 352 to measure load in the
actuator.
[0212] With reference to FIGS. 8A and 8B and further reference to
FIGS. 6A and 6B, illustrated are detailed views of the second
support member 312, the third support member 313 coupled to the
second support member 312 at joint 333, and a portion of the fourth
support member 314 coupled to third support member 313 at joint
334. Some features of the slave arm have been omitted in FIGS. 8A
and 8B to show certain aspects of the slave arm that are otherwise
obscured from view. Position sensor 343 is associated with joint
333 to sense a relative change in position between the second
support member 312 and the third support member 313. Actuator 353
can provide a torque acting about the DOF associated with axis 323
formed by joint 333. Load sensor 363, which is associated with
actuator 353, can measure a load acting about the DOF associated
with axis 323 formed by joint 333.
[0213] In the embodiment shown, the second support member 312 and
the third support member 313 comprise lateral edges 392 and 393,
respectively, which overlap one another. The lateral edges 392, 393
are located proximate to joint 333. Coupling of the support members
312 and 313 about the lateral edges 392 and 393, respectively,
facilitates relative rotation of these support members such that
the support members "swing" relative to one another about axis 323.
Actuator 353 is coupled to the second support member 312 at one end
and coupled to first linkage 553 at an opposite end of the
actuator. First linkage 553 is rotatably coupled to the second
support member 312 at pivot 526. In one aspect, the first linkage
can be configured for motion in a plane, such as by rotating about
a single degree of freedom pivot coupling. The single degree of
freedom pivot coupling can be substantially perpendicular to axis
323, The first linkage 553 is also rotatably coupled to a second
linkage 563 at pivot 528. Second linkage 563 is coupled to the
third support member 313 at pivot 530. Motion by the first linkage
553 in the plane can cause an out of plane relative rotational
movement of the second support member 312 and the third support
member 313 about axis 323. In one aspect, pivots or couplings
between linkages, actuators, and/or support members can include
pin-type connections or spherical-type connections. Pin-type
connections allow rotation in a single degree of freedom.
Spherical-type connections can allow rotational movement in
multiple degrees of freedom. For example, the actuator 353 is
coupled to the second support member 312 and to first linkage 553
via a spherical-type connection. Further, second linkage 563 is
coupled to the first linkage 553 and the support member 313 at
pivot 530 via a spherical-type connection. The spherical-type
connections of the second linkage 563 allows the second linkage to
simultaneously rotate in three degrees of freedom as the second
support member 312 and the third support member 313 rotate relative
to one another about axis 323. The freedom to twist at the joints
as the support members rotate relative to one another can minimize
stress at the joints and in the second support member, which can
enhance operation of the movement at joint 333.
[0214] Rotation of the first linkage 553 relative to the second
support member 312 causes the second linkage 563 to act on the
third support member 313 via the pivot 530, which causes relative
rotation of the second support member 312 and the third support
member 313 about joint 333. Thus, movement of the actuator 353
causes movement of the first linkage 553 and the second linkage
563, which causes movement of the third support member 313 about
axis 323. By overlapping lateral edges 392, 393 proximate to joint
333, the linkage configuration formed by the second support member
312, the first linkage 553, the second linkage 563, and the third
support member 313, can convert linear motion in one plane to an
out of plane rotational movement. This configuration allows the
support structures to be constructed from a series of plates, thus
reducing costs and weight of the system over systems having
structural elements that rotate relative to one another in an
end-to-end configuration.
[0215] Actuator 353 is fluidly coupled to servo valve 383, which is
electrically coupled to GDC 373 and can receive position and/or
load data from sensors, such as position sensor 343 and load sensor
363, to operate the actuator 353. The position sensor 343 is
located at one end of joint 333 to measure relative rotation
between the second support member 312 and the third support member
313. The load sensor 363 is coupled to the actuator 353 to measure
load in the actuator.
[0216] FIGS. 8A and 8B further illustrate that position sensor 344
is associated with joint 334 to sense a relative change in position
between the third support member 313 and the fourth support member
314. Actuator 354 can provide a torque acting about the DOF
associated with axis 324 formed by joint 334. Load sensor 364,
which is associated with actuator 354, can measure a load acting
about the DOF associated with axis 324 formed by joint 334.
[0217] Actuator 354 is coupled to the third support member 313 at
one end and to first linkage 554 at an opposite end. First linkage
554 is coupled to the third support member 313 at pivot 532 and to
a second linkage 564 at pivot 534. Second linkage 564 is coupled to
the fourth support member 314 at pivot 536. Rotation of the first
linkage 554 relative to the third support member 313 and the
movement of the second linkage 564 cause rotation of the fourth
support member 314 about the joint 334. Thus, movement of the
actuator 354 causes movement of the first linkage 554 and the
second linkage 564, which causes movement of the fourth support
member 314 about axis 324.
[0218] The linkage configuration formed by the third support member
313, first linkage 554, second linkage 564, and the fourth support
member 314 forms a four-bar linkage. This configuration can be
utilized to increase a range of rotation of the fourth support
member 314 about axis 224 relative to the third support member
313.
[0219] Actuator 354 is fluidly coupled to servo valve 384, which is
electrically coupled to GDC 374 and can receive position and/or
load data from sensors, such as position sensor 344 and load sensor
364, to operate the actuator 354. The position sensor 344 is
located at joint 334 to measure relative rotation between the third
support member 313 and the fourth support member 314. The load
sensor 364 is coupled to the second linkage 564 to measure a load
acting on the second linkage.
[0220] With reference to FIGS. 9A, 9B, and 90, and further
reference to FIGS. 6A and 6B, illustrated are detailed views of the
fifth support member 315 coupled to the fourth support member 314
at joint 335, the sixth support member 316 coupled to fifth support
member 315 at joint 336, and the seventh support member 317 coupled
to the sixth support member 316 at joint 337. Some features of the
slave arm have been omitted in FIGS. 9A, 9B, and 9C to show certain
aspects of the slave arm that are otherwise obscured from view.
[0221] Position sensor 345 is associated with joint 335 to sense a
relative change in position between the fourth support member 314
and the fifth support member 315. Actuator 355 can provide a torque
acting about the DOF associated with axis 325 formed by joint 335.
Load sensor 365 can measure a load acting about the DOF associated
with axis 325. Load sensor 365 is associated with actuator 354.
[0222] With reference to FIG. 9D, actuator 355 is coupled to the
fourth support member 314 at one end and coupled to a first torque
member 555 at an opposite end of the actuator. The first torque
member 555 is coupled to the fourth support member 314 at pivot
536. The first torque member 555 rotates about pivot 536 and
extends away from the pivot to provide a lever arm and a coupling
interface with the actuator 355. Thus, movement of the actuator 355
causes movement of the first torque member 555. The first torque
member 555 is rigidly coupled to a first linkage 565, which also
rotates about pivot 536. Thus, movement of the first torque member
555 causes movement of the first linkage 565. First linkage 565 is
coupled to a second linkage 566 at pivot 538. Second linkage 566 is
coupled to a second torque member 556 at pivot 540. The second
torque member 556 is coupled to the fifth support member 315, which
rotates about axis 325. The second torque member 556 extends away
from axis 325 to provide a lever arm and to couple with the second
linkage 566. Thus, movement of the second linkage 566 causes
movement of the second torque member 556 about axis 325, which
cause movement of the fifth support member 315 about axis 325. In
one aspect, the first linkage 565 is configured to couple with the
second linkage 566 at an opposite location from pivot 536 relative
to axis 325, which can "wrap" the first and second linkages about
axis 325. In this case, the actuator 355 can cause the first and
second linkages to "unwrap" when moved in one direction and to
"wrap-up" when moved in an opposite direction. This ability to
"wrap" and "unwrap" can increase the angular range of motion
available with a given stroke of a linear actuator.
[0223] Actuator 355 is fluidly coupled to servo valve 385, which is
electrically coupled to GDC 375 and can receive position and/or
load data from sensors, such as position sensor 345 and load sensor
365, to operate the actuator 355. The position sensor 345 is
located at one end of joint 335 to measure relative rotation
between the fourth support member 314 and the fifth support member
315. The load sensor 365 is coupled to the second linkage 566 and
can measure a load acting about the DOF associated with axis
325.
[0224] With continued reference to FIGS. 9A, 9B, and 90, position
sensor 346 is associated with joint 336 to sense a relative change
in position between the fifth support member 315 and the sixth
support member 316. Actuator 356 can provide a torque acting about
the DOF associated with axis 326 formed by joint 336. Load sensor
366, which is associated with actuator 356, can measure a load
acting about the DOF associated with axis 326.
[0225] Actuator 356 is coupled to the fifth support member 315 at
one end and to first linkage 557 at an opposite end of the
actuator. The first linkage 557 is coupled to the fifth support
member 315 at pivot 542. First linkage 557 is coupled to a second
linkage 558 at pivot 544. Second linkage 558 is coupled to a torque
member 559 at pivot 546. The torque member 559 is coupled to the
sixth support member 316, which rotates about axis 326. The torque
member 559 extends away from axis 326 to provide a lever arm and to
couple with the second linkage 558. Thus, rotation of the first
linkage can cause movement of the second linkage 558, which acts on
the torque member 559 about axis 326 to cause movement of the sixth
support member 316 about axis 326. In one aspect, the first linkage
557 is configured to couple with the second linkage 558 at an
opposite location from pivot 536 relative to axis 326, which can
allow the first and second linkages to "wrap" and "unwrap" about
axis 325, as discussed above.
[0226] Actuator 356 is fluidly coupled to servo valve 386, which is
electrically coupled to GDC 376 and can receive position and/or
load data from sensors, such as position sensor 346 and load sensor
366, to operate the actuator 356. The position sensor 346 is
located at one end of joint 336 to measure relative rotation
between the fifth support member 315 and the sixth support member
316. The load sensor 366 is coupled to actuator 356 and can measure
load in the actuator.
[0227] FIGS. 9A, 9B, and 9C further illustrate that position sensor
347 is associated with joint 337 to sense a relative change in
position between the sixth support member 316 and the seventh
support member 317. Actuator 357 can provide a torque acting about
the DOF associated with axis 327 formed by joint 337. Load sensor
367, which is associated with actuator 357, can measure a load
acting about the DOF associated with axis 327.
[0228] Actuator 357 is coupled to the seventh support member 317 at
one end and coupled to torque member 560 at an opposite end. Torque
member 560 extends away from axis 327 and provides a lever arm and
a coupling for the sixth support member 316. The coupling between
the seventh support member 317 and the torque member 560 is off
axis 327. Thus, movement of the actuator applies a torque to the
torque member 560, which causes movement of the seventh support
member 317 relative to the sixth support member 316 about axis
327.
[0229] Actuator 357 is fluidly coupled to servo valve 387, which is
electrically coupled to GDC 377 and can receive position and/or
load data from sensors, such as position sensor 347 and load sensor
367, to operate the actuator 357. The position sensor 347 is
located at one end of joint 337 to measure relative rotation
between the sixth support member 316 and the seventh support member
317. The load sensor 367 is coupled to actuator 357 and can measure
load in the actuator. In the figures, GDC 376 and GDC 377 are at
the same location on the fifth support member 315. Additionally,
servo valve 285, servo valve 286, and servo valve 287 are at the
same location on the fifth support member 215.
[0230] An explanation of the control system signal flow of the
teleoperated robotic system is provided below with respect to the
examples of the robotic system that are illustrated in the
previously described figures. With reference to FIGS. 10A-10D, and
particularly FIG. 10A, each master control arm actuator 251-257 and
slave arm actuator 351-357 can be controlled by the master control
arm GDCs 271-277 and the slave arm GDCs 371-377, respectively, for
each DOF being controlled. As discussed above, each DOF for both
the slave arm 300A and the kinematically equivalent master control
arm 200A can have an actuator. A robotic arm with seven DOF can
therefore have at least seven actuators on the master control arm
and seven actuators on the slave arm. The servo valve of the
actuator can operate the actuator in a forward direction and
reverse direction. Each actuator can have a corresponding position
sensor and load sensor that can determine both the position and
force (or torque) acting on the master control arm joints 231-237
and slave arm joints 331-337, each of which can comprise a DOF.
[0231] The GDC can use the inputs from a position sensor 241-247
and 341-347 and a load sensor 261-267 and 361-367 which are
associated with each joint 231-237 and 331-337, respectively, to
calculate a force that can be converted into a signal to actuate
the actuator with a specified force to a specified position or, in
other words, apply a specified torque at a DOF. For example, a
positive signal can move the actuator in a forward direction and a
negative signal can move the actuator in a reverse direction, or
vice versa. The magnitude of the signal can indicate the strength
of the force generated by the actuator. A central control 610 can
coordinate signals between the GDC of the master control arm for a
DOF and the GDC of the slave arm. The central control can also
perform filtering and amplification for signals passing between the
master control arm and the slave arm. The coordination, filtering,
and amplification at the central control is represented as command
filter 611 through 617 in FIG. 10A. A force reflective signal can
be returned from the GDC of the slave arm through the command
filter to the GDC of the master control arm.
[0232] Each GDC is configured to provide a control scheme that is
used to control the position and torque of a joint on the master
control arm 200A as well as a corresponding joint on the slave arm
300A. The GDC employs a number of different closed loop control
schemes. Each scheme is designed to provide a desired level of
accuracy, speed, and stability to provide a teleoperated robotic
lift system that is agile, fast and accurate. The control scheme
for each support member 211-217 of the master control arm 200A and
each support member 311-317 of the slave arm 300A, together with
the command filters 611-617, are designed to limit or eliminate
each segment from operating at a frequency that may induce a
natural resonant harmonic on another support member in the
respective arms 200A, 300A. Filtering of output signals and
feedback signals is performed to remove high frequency signals that
may induce resonance in a support member or other types of
non-stable performance.
[0233] With reference to FIGS. 10A-10D, and particularly FIG. 10B,
each command filter 611-617 can be further subdivided to provide
cross gain and filtering for both a position and a torque for both
a master control arm DOF and a slave arm DOE A control signal flow
is illustrated for a single master control actuator 251 coupled to
joint 231 and a matching slave arm actuator 351 coupled to joint
331 with their accompanying sensors, GDCs, and command circuitry.
The other actuators for the other joints can function in a similar
manner.
[0234] Returning to the example, a user may move the master control
arm in a desired direction. A position sensor 241 on the master
control arm 200A joint 231 can sense the change in position
associated with the DOE A position sensor signal can be transmitted
from the position sensor 241 to the master position control 641 in
a master control arm GDC 271 and the master position command 621
for cross gain and filtering input prior to communication to the
slave arm GDC. While a position sensor measures a change in
position, a load sensor 261 senses a force or torque exerted on the
joint 231. The load sensor signal can be transmitted to the master
torque control 661 in the master control arm GDC and the master
torque command 631 for cross gain and filtering prior to
communication to the slave arm GDC. A master valve control 651 in
the master control arm GDC combines the inputs from the master
position control and master torque control to generate a signal to
actuate the actuator 251. The master position control can use a
signal from the position sensor and a signal from a slave position
command 721 from the GDC of the slave arm. Likewise, the master
torque control can use a signal from the load sensor and a signal
from a slave torque command 731 from the GDC of the slave arm.
[0235] The master position command 621 can provide a desired level
of magnification, or scaling, of the user's movements at the master
control arm 200A. For instance, for each degree a user moves a
joint 231-237 in the master control arm, the master position
command 621 can be set to provide a corresponding movement in the
slave arm with a desired ratio. A typical ratio may be 1:1,
enabling the slave arm to move at the same rate as the master
control arm. However, a ratio of 2:1, 3:1, or higher may be
selected to enable a user to make relatively small movements at the
master arm while commanding the slave arm to move 2 to 3 times
further. This may be helpful to the user when performing repeated
movements by limiting the amount of movement of the user to reduce
user fatigue. Conversely, the ratio may be set to 1:2, 1:3, or
lower when the user is performing delicate tasks. By reducing the
ratio, and requiring the user to move further than the
corresponding movements of the slave arm, it enables the user to
have more fine motor control over delicate tasks. The actual ratio
can be set by adjusting the master position command 621 based on
the needs and uses of the system and the system operator.
[0236] The master position command 621 can provide a positional
boundary for the slave armies of the workspace, for example to
limit the workspace to something smaller than the actual full reach
of the slave arms. For example, if the system is operating in an
area with a low ceiling, the system can be configured by the user
so that the slave arms do not reach higher than the height of the
low ceiling to avoid contact with the ceiling. A height limitation
or other range of motion limitation that will prohibit the slave
arm from extending beyond the imposed limit, Such boundaries or
range of motion limitations can be set by adjusting the master
position command 621 based on the needs and uses of the system and
the system operator.
[0237] In another aspect, the master position command 621 can be
selected to provide a desired level of offset of the user's
movements at the master control arm 200A. For instance, the
position of a joint 231-237 in the master control arm can be offset
by a predetermined value to position the slave arm at a position
that is offset from the master control arm. This can enable the
user to operate in a more comfortable position when the slave arms
are at a position that would otherwise require the user to be in an
awkward or uncomfortable position. For example, the user may be
performing tasks that require the slave arm to be elevated for a
prolonged period of time. Without an offset level implementation,
the user would be required to position the master control arm in an
elevated position, as well. However, by utilizing position offset,
the user can offset the position of the slave arm relative to the
master control arm to allow the user to operate the master control
arm with the user's arm in a lowered position while the slave arms
remain operational in an elevated position. This can increase
comfort and productivity while reducing fatigue and likelihood of
operator error. The position offset can be variable and can be
controlled by the user (e.g., via a user interface device operable
with the control systems of the robotic device) while operating the
master control arm.
[0238] With reference to FIGS. 10A-10D, and particularly FIG. 100,
the master position command 621 provides an amplified and filtered
signal to a slave arm GDG 371 to move the joint 331 in the slave
arm 300A to a position corresponding to the joint 321 in the master
control arm 200A. A slave position control 741 generates a valve
control 751 input using the current position sensed by the slave
arm position sensor 341 and the new position of the master control
arm provided by the master position command 621. A slave torque
control 761 generates another valve control input using the current
torque sensed by the slave arm load sensor 361 and the torque on
the master control arm provided by the master torque command 631.
The slave arm actuator is controlled by the valve control. The
position sensor provides feedback to the slave position control and
a reflective position feedback to the master control arm via the
slave position command 721. The load sensor provides feedback to
the slave torque control and a force reflective torque feedback to
the master control arm via the slave torque command 731. In this
manner the position and torque of the joint 231 at the master
control arm are substantially duplicated on the joint 331 at the
slave arm by providing the appropriate signal to the valve control
751 to actuate the joint 331.
[0239] The master position control 641 and the master torque
control 661 can each use a lag lead compensator to determine an
output to the master valve control 651. A lag lead compensator is
selected to improve an undesirable frequency response in the
feedback of the control system. The master position control 641
uses position feedback from the position sensor 241. The master
torque control 661 uses torque feedback from the load sensor 261 on
the actuator 251.
[0240] A phase lag section of the lag lead compensator can be
designed to maintain low frequency gain while realizing a part of
the gain margin. A phase lead section of the compensator can then
realize the remainder of the phase margin, while increasing the
system bandwidth to achieve a faster response.
[0241] In some cases, a compromise may be necessary. If either the
specified phase margin or the compensator gain can be reduced, the
high frequency gain of the compensator can also be reduced. If
these specifications cannot be reduced, it may be necessary to
employ a section of phase lag compensation cascaded with a section
of phase lead compensation.
[0242] The position gains may be set so that the slave arm
faithfully follows the position of the master control arm by
implementing high gains. The master control arm may be configured
so as to not have high position gains, which may help to minimize
user effort. There is somewhat of a balancing act at work. If the
master control arm gains are too low, the operator can lose the
proprioception of what the slave arm is experiencing. For example,
the slave arm gains can be increased up to acceptable stability
limits, while the master control arm gains can be set to optimize
the need of the user to sense what the slave arm is experiencing
through the master control arm, while minimizing user fatigue.
[0243] Low torque gains can allow improved stability margins,
particularly when the slave arm comes into contact with a rigid
body and when two slave arms are coupled through a "two-handed"
lift.
[0244] Tuning of position and torque gains for each slave arm DOF
is dependent on the stiffness, mass, and inertia any particular DOF
experiences. The position of robot arm DOF change as joints move,
therefore, the inertia a particular DOF experiences may change
significantly throughout a movement of the robotic arm. Since the
slave arm can be configured to pick up a payload, the extra mass of
the payload can also cause the inertia a DOF experiences to change
significantly. Therefore, a given DOF can be tuned with static
gains so that it is stable over all joint angles and payloads.
However, this can result in sluggish performance in some situations
and oscillatory performance in other situations. By accounting for
the change in inertia at various joint angles and the change in
inertia due to various payloads, the gains can be changed
dynamically to optimize performance over the entire operating
envelope. Thus, a gain schedule can be implemented to dynamically
optimize performance. A gain schedule can include discrete
predetermined values referenced in a table and/or values can be
calculated from a formula. Changes in inertia can be determined
from measured weights, estimated values, or other calculations.
[0245] In some exemplary embodiments, the teleoperated robotic
device of the present invention may further comprise a master/slave
relationship filtering function, or relationship filtering
function, that addresses the problems relating to unwanted
movements (e.g., unintentional induced movements) in the robotic
system, and particularly the master control arm, such as those
introduced by the mobile platform. For instance, the master/slave
relationship filtering function addresses the problem where the
master is caused to move differently than the desired input of the
operator, which in turn may cause the slave to move in an undesired
way.
[0246] In the particular situation where the user, the master
control arm, and the slave arm are commonly supported about the
same mobile platform, the master/slave relationship filtering
function is useful to identify and filter frequencies resulting
from undesirable movements of the master control arm and slave arm
(e.g., those that are induced or caused by something other than the
user) to reduce motion feedback. The master/slave relationship
filtering function deals with an unwanted feedback loop created in
the system. If left unchecked, oscillations in the system can
continue and grow in amplitude. By detecting frequencies at which
an unwanted feedback loop occurs, the feedback loop can essentially
be broken and its impacts on the overall performance of the robotic
system can be reduced or eliminated.
[0247] There are various ways in which the problem of unwanted
movements in the master control arm (i.e., movements different from
those resulting from the desired inputs from the user) that cause
the slave arm to move in an undesirable way can occur. In one
example, the user moves the master control arm and the master
control arm oscillates at the master structural mode. In another
example, the user moves the master control arm and the user
oscillates at the operator support structural mode of the platform
the user stands on. In another example, the slave arm moves or
oscillates, which causes a sympathetic oscillation in the mobile
platform, which in turn results in an oscillation in the user
platform and/or the master stand, and therefore the master control
arm. In still another example, the slave arm interacts with the
environment that causes a sympathetic oscillation in the mobile
platform, which in turn results in an oscillation in the user
platform and/or the master stand.
[0248] In some exemplary embodiments, the structural mode
oscillations of the mobile platform, the slave arm and the
environment can occur within the desired robot operating
envelop.
[0249] To reduce motion feedback and reduce or eliminate the
effects of the unwanted feedback loop, cross commands can be
filtered to minimize the oscillations resulting from coupling
between master support modes and slave support and environment
modes, as communicated through the mobile platform. The
relationship filtering function dampens out oscillations at the
identified structural mode frequencies by reducing the gain of the
commands at those frequencies and minimizing the overall delay of
the system's ability to reject these oscillations by introducing a
phase lead at those frequencies, which reduces lag and increases
stability margins. In a similar manner within embodiments
implementing a torque assistance function, the torque assistance
commands can be filtered to minimize the oscillations resulting
from coupling between the operator modes and the master modes.
[0250] Applying the master/slave relationship filtering function
may induce delays at frequencies lower than the structural mode
being targeted, resulting in temporary decreased performance over
some of the performance envelope in order to maintain stability and
achieve higher position accuracy.
[0251] With reference to FIGS. 10A-10D, and particularly FIG. 100,
when gravity compensation is used, a gravity compensator 681 for
the master control arm and a gravity compensator 781 for the slave
arm may be used. The gravity compensator 681 for the master control
arm can use an input from the master control arm position sensor
241 and a gravity sensor to calculate a gravity vector and
determine each support members position. The position of the
support member can be used to determine the members center of
gravity. The mass of the support member, the center of gravity, and
the position of the support member can be used to calculate the
torque for the joints of the support member in the master control
arm caused by the effect of gravity in the direction of the
measured gravity vector and generate a signal at the gravity
compensator 681 to send to the master torque command 631 that can
be utilized by the master torque control 661 to provide an opposite
torque value to the actuator 251 associated with the joint 231 to
offset the effect of gravity at the joint. Similarly, the effect of
gravity on each of the remaining joints 232-237 can be determined
and offset.
[0252] The gravity compensator 781 for the slave arm can use an
input from the slave arm position sensor 341 and a gravity sensor
to calculate a gravity vector and determine the position of support
member 311. The position of the support member can be used to
determine the members center of gravity. The mass of the support
member, the center of gravity, and the position of the support
member can be used to calculate the torque for the joint 331 of the
support member in the slave arm caused by the effect of gravity in
the direction of the measured gravity vector. The gravity
compensator 781 can output a signal to send to the slave torque
command 731 that can be utilized by the slave torque control 761 to
provide an opposite torque value to the actuator 351 associated
with the joint 331 to offset the effect of gravity at the joint.
Similarly, the effect of gravity on each of the remaining joints
332-337 can be determined and offset to compensate for the effects
of gravity on the slave arm.
[0253] In one aspect, a payload supported by the slave arm, such as
payload coupled to the end effector 390, can be gravity compensated
so that the user does not feel the weight of the payload while
operating the master control arm. Payload gravity compensation can
utilize load sensor 368 coupled to the end effector and the slave
arm to determine the weight of the payload to be compensated.
[0254] A master torque assist control 691 can provide an additional
input to the master torque control 661. At least one user load cell
interface 268 on the master control arm 200A can be in contact with
a user's arm. The load cell can be configured to output a signal to
a load cell card 693 related to a movement of the user's arm. The
load cell card 693 can transmit the signal to the master torque
assist control 691. Additional torque can be communicated to the
actuators 251-257 for the joints 231-237 in the master control arm
to cause the master control arm to move to assist the user in
moving the master control arm 200A.
[0255] A payload coupled to the end effector 390 can be stabilized
by utilizing load sensor 368, which is associated with the end
effector at the end of the slave arm. Load sensor 368 can measure
forces and moments produced by a payload and acting on load sensor
368. Using slave load control 791, payload stabilization can be
applied to several different payload scenarios including a swinging
payload, a rigid payload coupled to a pair of magnetic end
effectors in a "two-handed" lift, and a fragile payload or
operating environment.
[0256] In the case of a swinging payload, it is desirable to reduce
swinging quickly to minimize negative effects of an unstable
payload. Based on the measured information from the load sensor
368, torque is applied at the slave arm DOF to minimize force
components exerted by the payload that are perpendicular to
gravity. This has the effect of moving the end effector so that the
payload center of gravity is below the end effector. The swinging
of the payload is taken up and eliminated quickly by the countering
movements of the slave arm.
[0257] In the case of a rigid payload coupled to a pair of end
effectors (e.g., magnetic) in a "two-handed" lift, it is possible
for the operator controlled slave arms to fight one another such
that one or both of the magnetic end effectors twist away from the
rigid payload. This twisting can reduce the magnetic hold on the
payload potentially resulting in a drop of the payload, With
payload stabilization, load sensor 368 detects the forces and
moments threatening to twist the end effector relative to the
payload. Upon detection, the slave arms are caused to move to
relieve or minimize forces and moments threatening to twist the
magnetic end effectors from the payload. In one aspect, the load at
the end of the slave arm can be limited to a predetermined value
and the slave arms can move to maintain the applied load at or
below the predetermined value.
[0258] In the case of a fragile payload or operating environment,
it may be desirable to limit the amount of force the end effector
can apply to a payload or other object, as detected by the load
sensor 368. With payload stabilization, the slave arm can reduce or
eliminate forces and moments when they exceed a predetermined value
to maintain forces and moments at or below the predetermined
value.
[0259] Similarly, slave load control 791 can provide an additional
input to the slave torque control 761. The slave arm 300A can
include at least one slave load cell interface 368. For example, a
slave load cell interface 368 on the slave arm 300A can comprise
components configured and designed be in contact with the user, and
a load cell associated or otherwise operable with such components.
For instance, the user may grasp a handle on the slave arm having a
load cell associated therewith and apply a load in a selected
direction, A slave load cell interface 368 can detect the applied
load and the direction of the applied load, and transmit a signal
to the slave load cell card 793. The load cell card 793 can
transmit the signal to the slave load control 791. Additional
torque can be communicated to the actuators 351-357 for the joints
331-337 in the slave arm to assist the user in moving the slave arm
300A in the direction of the applied load. In another aspect, the
slave load cell interface 368 can comprise a load cell coupled to
or otherwise operable with the end effector and the slave arm to
measure loads exerted on the slave arm by the end effector and any
payload supported by the end effector. In this case, the slave load
control 791 can be used to apply payload stabilization, payload
gravity compensation, or other system feature that utilizes loads
from the load cell interface 368.
[0260] The teleoperated robotic device may further comprise a "tap
response" function that is configured to provide enhanced force
feedback to the operator through the master control arm when the
slave arm contacts an object to enable the operator to sense more
accurately the point at which the slave arm makes contact with an
object. Tap response can vary with the amplitude of the slave load
derivative, for example, the rate of change of torque as sensed by
a load sensor, thus giving the operator a sense of the magnitude of
the impact event at the slave arm with a "tap" to simulate touch.
The slave load derivative response may be too short in duration for
a person to sense and/or exceed the ability of the system to
accurately reproduce for the operator. Therefore, the slave load
derivative can be passed through a filter, such as a gained
two-pole, two-zero filter to convert the slave load derivative to a
slower response that a person can feel and that the system can
reproduce. The filter output can be applied as a torque command to
the master control arm DOE, where it is sensed by the user. This
feature can enhance the accuracy of the "feel" at the master
control arm of resistance encountered by the slave arm and can help
the operator better recognize that the slave arm has made contact
with an object. In one aspect, tap response can be applied to any
of the degrees of freedom of the master control arm. In a specific
aspect, tap response is applied only to the wrist degrees of
freedom of the master control arm.
[0261] The teleoperated robotic system can include a power source
to power the master control arms, slave arms, and any subsystems
used to operate the arms. For example, as illustrated in the
schematic power system diagram of FIG. 11, a teleoperated robotic
system 700 can include a power unit 702 and a fuel supply 701 for
the power unit. In one aspect, the fuel supply 701 can include
fossil fuels and the power unit 702 can be an internal combustion
engine. In this case, the power unit 702 can power an electric
generator 705, which can provide power, via an electric bus 706,
for a central controller 707, the GDCs 708 of the master control
arm and the slave arm, and the servo valves 709 of the master
control arm and the slave arm.
[0262] The power unit 703 can also power a hydraulic pump 703 for
the actuators of the right master control arm 704A, the left master
control arm 704B, the right slave arm 7040, and the left slave arm
704D. In one aspect, the hydraulic pump can be powered by
electricity received from the generator 705. In certain aspects,
the power unit 702 can also power subsystems that may be included
in a teleoperated robotic system of the present disclosure, such as
mobility features for a mobile platform, electrical systems such as
lighting, cameras, microphones, etc. The power unit may be commonly
supported about the mobile platform along with the master control
and slave arms.
[0263] Optionally, an energy storage device, such as a battery, can
be configured to deliver electrical power to the electric bus 706
and/or the hydraulic pump 703. The energy storage device can serve
as a primary power source or as a back-up power source.
[0264] In one embodiment, a teleoperated robotic system can be
located at a fixed position, such as on a static or fixed platform.
The platform can support various components of the teleoperated
robotic system, such as a slave arm and a master control arm. In a
particular aspect, the platform can support a power source, a pump,
a generator, a fuel supply, and a central controller, alone or in
any combination.
[0265] In another aspect, the platform can be a mobile platform. In
a particular aspect, the mobile platform can support, about a base
or other foundational structure, a power source, a pump, a
generator, a fuel supply, and a central controller in addition to a
master control arm and a slave arm. Thus, a teleoperated robotic
system in accordance with the present disclosure can be a mobile,
self-contained system capable of also supporting a user to operate
the system, and providing what may be termed as mobile
teleoperation.
[0266] Illustrated in FIGS. 12 and 13 is a mobile platform 810
according to one exemplary embodiment of the present disclosure. As
shown, the mobile platform 810 provides common support for the
master control arms, the slave arms, and all other necessary
components for the operation of these (e.g., power source, pumps,
controls, control systems, user interface devices, etc.). The
platform 810 comprises a base having an area designed to receive
and support the various components of the robotic device, various
drive systems to provide and facilitate locomotion and steering of
the mobile platform, as well as support for a user, wherein the
user may control one or more of the various components of the
teleoperated robotic system 800 such as the master control arms,
slave arms, end effectors, mobility of the platform, and so forth.
Shown in FIG. 12, the platform 810 can include a control panel 812
and, optionally, a seat 814. Indeed, the mobile platform 810 may be
configured to comprise or support all of the necessary elements,
components, systems and/or subsystems to make up a fully or
self-contained system that can be operated by the user and moved
from location to location as desired.
[0267] In one example, the seat 814 can be a foldable seat
configuration, thereby enabling a user the choice of standing or
sitting down while operating the teleoperated robotic system 800.
In one non-limiting example, the seat 814 includes one or more
foldable support members that can extend into an upright position
and retract together providing space for a standing position.
Optionally, the seat can be fixed in place or the seat can swivel
and/or be height adjustable to provide the user with various
seating positions.
[0268] Shown in FIGS. 12 and 13, the platform can include a slave
arm receiving channel 816 configured to receive a portion of a
slave arm in a nested position or arrangement, such as a portion of
slave arm 803. In at least one aspect, the slave arm receiving
channel 816 can assist to receive at least a portion of the slave
arm 803 when the slave arms are not in operation. When not in use,
the slave arms 803 can fold inward toward the platform 810 in a
stowed configuration, thereby configuring the teleoperated robotic
system 800 into a compact and readily transportable system. The
slave arm receiving channel 816 can additionally function to
prevent the platform's wheels or tracks from coming into contact
with the slave arms 803. Cushion 817 can be included to provide a
relatively soft interface, such as rubber, dense foam, or plastic,
to protect the slave arm from damaging contact. Cushion 817 can be
incorporated with or separate from the receiving channel 816. In
short, the teleoperated robotic device of the present invention may
comprise an operational mode and a storage mode where the slave
arms, and optionally the master control arms, can be positioned for
storage by folding or collapsing the various structural members
about themselves. In the stowed position, the slave arms may be at
least partially folded into the arm receiving channel 816 to place
the teleoperated robotic device into a compact configuration.
[0269] Shown in FIG. 13, the platform 810 includes one or more
slave arm support systems 818,820 configured to support the weight
of the one or more slave arms 803 and any load the slave arms may
carry. The support systems 818 and 820 are shown as comprising
support members supported about the platform, that couple to the
base (e.g., see base 310 of FIGS. 7A and 7B) of the slave arms,
respectively, to provide support to the slave arms about the
platform 810. A pair of first support members of the support system
818 can extend parallel to each other along a length of the
platform 810 substantially adjacent to an attachment point 822 for
the arm slaves 803. A second support member of the support system
820 can extend crosswise between the pair of first support members
(e.g., substantially orthogonal to the pair of first support
members). In at least one aspect, the second support member
functions to support the slave arm attachment points 822 and
platform 810. It is contemplated that the first and second support
members can include any type of material capable of supporting a
heavy load, such as steel, carbon fiber, titanium, steel and/or
titanium alloys, and so forth.
[0270] As previously discussed and shown in FIG. 13, the platform
810 includes one or more slave arm attachment points 822. The one
or more slave arm attachment points 822 can be disposed on the
platform 810 at opposing sides of the length of the platform 810
and can be coupled to or otherwise located at walls 824. It is
contemplated that the slave arms 803 are coupled to the walls 824
with coupling devices or systems that are able to withstand and
support heavy tensions and loads, such as but not limited to,
industrial grade fasteners of material such as steel, nickel and so
forth, or by welding.
[0271] Also shown in FIG. 13, the platform 810 also includes one or
more master control arm support systems 826. The one or more master
control arm support systems 826 comprise a plurality of support
members that extend from the base of the platform, and that are
configured to couple and support the master control arms 802, as
well as to position these in a location suitable for operation by
the user. In the embodiment shown, the master control arm support
members are configured to position the master control arms above
the platform and adjacent the user operating area so as to enable
the user to operate the master control arms from the desired
position. The support system 826 serves as points of attachment for
the master control arms 802 and to further function to support the
weight of the master control arms 802. It is contemplated that the
master control arm support system 826 can include any type of
material capable of supporting a heavy load such as steel,
titanium, nickel and/or alloys of such, carbon fiber, and so
forth.
[0272] FIG. 13 shows an example configuration and attachment of the
master control arms 802. As shown and previously discussed, the
master control arms 802 are attached at an end of the platform 810
and are configured to be suitably positioned so as to enable
operation by a user who is positioned in an operating area on the
platform 810. In the exemplary embodiment shown, the master control
arm support system 826 is coupled to and extends upward and outward
away from the platform 810. The support members of the master
control arm support system 826, support the master control arms 802
at the attachment points 830, which master control arms then arc
back partially over the platform 810, and then extend downward
toward the platform 810. The master control support system 826, the
master control arms 802 and the master control attachments points
830 create and define a user operating cavity 828 adjacent and
corresponding to the operating area of the platform. It is
contemplated that the master control arms 802 are coupled to the
master control arm support systems 826 (and the support systems 826
to the platform 810) with coupling fasteners or devices that are
able to withstand and support the loads at this location, such as
but not limited to industrial grade bolts, rivets, and so forth of
a suitable material, such as steel and so forth.
[0273] Illustrated in FIG. 13, the one or more master control arm
support systems 826 and the master control arms 802 are coupled to
a platform end at a distance from the slave arms 803 to allow for a
user to be placed out of the way of the slave arms 803, or outside
the zone of operation, thereby increasing the safety to the user.
Additionally, such positioning of the master control arms (and thus
the user) may function to assist in counterbalancing the slave arms
and any load being lifted by the slave arms.
[0274] Shown in FIGS. 12, 13, and 14, the platform 810, as
indicated herein, can be a mobile platform. As such, it is
contemplated that the platform can include a variety of types of
drive systems with corresponding drive elements, such as, but not
limited to, wheels, tracks, rails, or other mobility features that
facilitate locomotion of the mobile platform and the robotic system
from one location to another. The mobility features can also
provide a stable interface with a supporting surface when the
robotic system is stationary or in transit. Thus, the type of
mobility features employed can be selected based on the support
surface of the operating environment.
[0275] Illustrated in FIG. 12, the mobility features of the
platform 810 can be controlled from the platform 810 via a control
module or system comprising platform control elements, such as a
control panel 812 having hand controls and/or one or more foot
pedals 831. In one example, the foot pedals 830 may control any
number of or all of the mobility control features of the platform,
such as but not limited to, forward motion, backward motion,
lateral motion, steering, and so forth of the platform 810. In at
least one aspect, being able to control the mobility of the
platform 810 from the foot pedals 831 may advantageously obviate
the need for the user to remove the user's arms from the master
control arm 802 in order to move the platform 810 to a different
location. As such, a user may pick up an object and manipulate the
object with the slave arms 803 while at the same time moving and/or
maneuvering the platform 810 to a desired location. In one
exemplary embodiment, illustrated in FIGS. 12 and 13, the platform
810 includes a mobile track system 832 suitable for use in an
operating environment with a supporting surface comprising earth,
such as soil, sand, rock, etc.
[0276] In another exemplary embodiment, shown in FIGS. 14 and 15A
through 15D, the platform 910 can include a drive system comprising
drive elements in the form of wheels 932 that at least partially
enable the platform's mobility, and that facilitate locomotion and
steering of the mobile platform. For example, the wheels might be
used in an operating environment with a supporting surface
comprising a hard, relatively smooth surface, such as asphalt,
concrete, wood, steel, etc.
[0277] FIG. 15A through 15D is a plan view of the bottom of the
platform 910, illustrating an omni-directional system 950 of
mobility of the platform 910 that facilitates a high degree of
agility in operation of the teleoperated robotic device, and
particularly the mobile platform, over more limited wheel and
steering systems (e.g., one set of steering wheels and one set of
non-steering wheels). The omni-directional system 950 may provide
the platform 910 with the ability to move in multiple directions,
angles, turns, etc. In other words, the omni-directional system 950
provides a user with multiple DOF to manipulate and move the
platform in a workspace environment. In one exemplary embodiment,
the omni-directional system 950, and particularly each wheel 932,
can be configured to be capable of directional orientation or
rotation independent of the directional orientation of each of the
other wheels 932. In other words, each of the wheels can be
configured to rotate relative to the platform independent of one
another, such that each is capable of independent rotation or
steering. In the same or an additional embodiment, the wheels 932
may be configured to rotate together in unison to a uniform
directional angle or turning point. In one aspect, the
omni-directional system 950 can be coordinated manually by the
user. In another aspect, it is contemplated that the
omni-directional system 950 can be automatically controlled and
have one or more user selectable modes of operation, as describe in
more detail below.
[0278] In one example, illustrated in FIGS. 15A and 15B, the
omni-directional system 950 can cause the wheels 932 to rotate to a
position where all the wheels 932 have the same directional angle
952. In a non-limiting example shown in FIG. 15B, each of the
wheels 932 is directed at the same angle 952, approximately 45
degrees relative to the forward angle shown in FIG. 15A. Similarly,
in FIG. 15C, each wheel 932 is directed at the same angle 952,
approximately ninety degrees relative to the forward angle 952
shown in FIG. 15A, Having the wheels 932 rotatable to a position
where all the wheels 932 have the same directional angle enables
all the wheels to move in a uniform direction 954, and therefore
the mobile platform. Advantageously, the uniform directional motion
of all the wheels enables the view angle/direction 956 of a user to
remain constant even while the platform 910 is in motion. For
example, in FIG. 15B, upon motion of the wheels 932 in a generally
forward or backward direction 954, the view angle 956 of the user
remains constant. Similarly, in FIG. 15C, the uniform approximate
90 degree directional angle 952 of the wheels 932 enables the view
angle 956 of the user to remain constant while still providing for
lateral motion 960 of the mobile platform 910.
[0279] In another example, illustrated in FIG. 150, the
omni-directional system 950 can enable the wheels 932 to rotate to
positions where all the wheels 932 have opposing angles at
approximately 90 degrees to one another. Accordingly, as
illustrated conceptually in FIG. 15D, when the platform 910 is in
motion, the platform stays in same location while the view angle
964 of the user can rotate from zero degrees up to 360 degrees as
the platform 910 rotates due to movement or driving of the
individual wheels in direction 962. In one aspect, enabling
rotation of the platform 910 enables a user to quickly and
efficiently rotate the platform 910 from one location to another in
a compact workspace. Unlike the operation of typical fixed,
rotatable platforms such as cranes and the like, the illustrated
platform 910 as described herein, can allow the user to quickly and
easily and with agility move the platform to another location in
the workspace as desired.
[0280] Referring to FIGS. 15E and 15F, illustrated is a mobile
platform having a different configuration and function. In this
exemplary embodiment, the mobile platform can comprise a mobility
system 980 that can enable a teleoperated robotic system 970 to
pass over an obstacle 972 and/or through a narrow passageway 974.
Some operating environments, such as on a ship, may include doors
or passageways that the robotic system 970 may need to pass
through. Some doors or passageways may have a raised portion 972
that would prevent simply "rolling" through the door or passageway.
Additionally, some doors or passageways may be narrower than a
width of the mobility system, for example with wheels in a normal
operating position in contact with the ground, which could prevent
passage of the robotic system through the door or passageway.
[0281] To overcome such obstacles, the mobility system 980 can
include a plurality of wheels disposed substantially in-line with a
direction of travel of the robotic system 970. For example, wheels
981A-984A, can be disposed on a bottom of the robotic system 970
from a front to a back of the robotic system. The mobility system
980 can also include a sensor bar 985 having at least one sensor
986, 987. Sensors can include a variety of types as will be
recognized by those skilled in the art. A sensor can be configured
to sense an obstacle in the vicinity of a wheel. In response, the
wheel can be configured to move upward and/or inward to avoid the
obstacle. For example, as the robotic system 970 moves in direction
978 to proceed through a passageway having obstacles 972, 974, the
sensor 986 can sense the raised obstacle 972 and the narrow
passageway 974. In response to this information, wheel 982A can be
raised and/or retracted in a timely manner to allow clearance for
the wheel to move past the obstacles as the robotic system moves
forward. In one aspect, sensors may be associated with each wheel.
In another aspect, a sensor can be associated with the leading
wheel, and all subsequent trailing wheels can be caused to
raise/retract based on the position and speed of the vehicle. As
shown in FIG. 15E, the front wheel 981A has already passed the
obstacles in this manner and has been lowered/extended back to a
normal operating position and wheel 982A is in the process of
overcoming the obstacles. Wheel 983A is the next wheel in sequence
to raise/retract in order to move past the obstacles.
[0282] FIG. 15F is a rear view of the robotic system 970 and
illustrates a movement of a wheel 984B to raise/retract in order to
provide clearance for the wheel to move past the obstacles 972,
974. For example, the wheel 984B can be in an extended position 975
for normal operation. When the sensor 987 senses an obstacle, the
wheel 984B can move in direction 976 to a retracted position 977.
Once past the obstacle, the wheel 984B can move back to the
extended position 975. The mechanism for raising/retracting the
wheel is shown as comprising a powered linkage arm coupled to the
wheel that pivots upon being actuated. In an alternative
embodiment, the linkage arm could be configured to linearly retract
rather than pivot. It should be recognized that any number of
wheels in any combination can be in the retracted position at any
given time as long as the wheels in the extended position are
sufficient to maintain stability of the robotic system.
Additionally, when multiple sensors are employed, data from two or
more sensors can be used to determine whether a given wheel should
be in the extended or retracted positions and/or to coordinate the
positions of multiple wheels.
[0283] In yet another example, shown in FIG. 16, a teleoperated
robotic system 1000 as described herein may include a trailer
platform 1010 having one or more master control arms 1020
communicatively linked to one or more slave arms 1030, as described
herein. At least in one aspect, the trailer platform teleoperated
robotic system 1000 is advantageous as the system 1000 can be
pulled behind a trailering vehicles, such as those carrying large
and/or heavy loads. Once arriving at a destination, the large
and/or heavy loads can be unloaded more quickly and easily using
the robotic system that is supported about the trailer platform
1010. The trailer platform 1010 can include stabilizers 1040 to
provide stabilizing support for the trailer platform when detached
from the vehicle. The stabilizers can be lowered into contact with
a ground surface and can extend different lengths, if necessary, in
order to level the trailer platform. The stabilizers 1040 can
telescope to extend to the ground surface and can be extended under
machine or human power and can utilize gears or hydraulics.
[0284] Referring to FIGS. 17A-17B, another exemplary teleoperated
robotic system 1100 is shown, which includes a master control arm
1135 and a slave arm 1140 coupled to a primary platform 1105. FIG.
17A illustrates a perspective view of the system and FIG. 17B
illustrates a side view of the system. In this example, the primary
platform comprises a vehicle type mobile platform, such as a truck.
Other types of vehicles or mobile platforms may also be used in
accordance with aspects of this example. The system in this example
also includes a secondary platform 1110. The secondary platform is
moveable with respect to the primary platform and the primary
platform is moveable with respect to a surface supporting the
primary platform, such as the ground.
[0285] The primary platform 1105 can include a or rail or rail
system 1115 along which the secondary platform 1110 can move. The
example shown in the figures includes a rail mounted within and
along a side of a truck bed. The rail may comprise a straight rail,
or it may also be curved and extend along any suitable length or in
any desired direction along the primary platform. Alternatively, a
plurality of rails 1116, 1117 can be used. The plurality of rails
can be interconnected by a rail support member 1118 for providing
additional strength and support between the plurality of rails. The
rails can be made from any suitably strong material. Steel, iron,
metal alloys, and the like are just a couple of example materials
from which the rails may be formed.
[0286] The secondary platform 1110 can include a base 1120 which is
slidable or otherwise movable along the rail(s) 1115. The base can
include running wheels, gears, or other suitable devices for
enabling movement of the base along the rail. The base can further
include a power source 1122. The power source can supply power to a
drive train for causing movement of the base along the rail. The
power source can also supply power to the master control arm 1135,
the slave arm 1140, and other controls available to a user. The
power source may be a battery, a combustion engine, and so forth.
In one aspect, the power source may be a shared power source shared
with the primary platform 1105.
[0287] The base 1120 can support a seat 1125 for a user and an arm
support member 1160. The seat and the arm support member can be
coupled together and/or supported by a common support member. A
fulcrum 1112 can rotatably support the seat and the arm support
member. The fulcrum can provide a pivot point for side-to-side
rotations. A user sitting on the seat can use a control lever 1130
or any suitable control mechanism to pivot the seat and arm support
member upon the base. The user can further use the control lever to
move the secondary platform along the rail to a desired position.
For example, the control lever can be manipulated by pushing,
pulling, twisting, etc., to separately and independently control
rotation upon the fulcrum and movement along the rail. In one
aspect, the rotation upon the fulcrum and the movement along the
rail can provide at least two DOF of motion for the slave arm 1140.
The slave arm can include any desired number of DOE. For example,
the slave arm can include seven DOF within the slave arm itself,
and the fulcrum and rail components can enable additional mobility
or DOE to the slave arm. As another example, the slave arm can
include five DOF within the slave arm itself and an additional two
DOE can be provided by the fulcrum rotation and rail movement.
[0288] The arm support member 1160 can support the master control
arm 1135 and the slave arm 1140. In one aspect, the master control
arm can alternately be supported by the seat 1125. In one aspect,
the master control arm and/or the slave arm can be kinematically
equivalent to a human arm, as has been described above. In another
aspect, the master control arm and/or slave arm can include fewer
than seven DOE since the fulcrum 1112 and rail 1115 enable at least
two degrees of freedom independent of master control or slave arm
movements. The master control arm 1135 can include joints, sensors,
actuators, and the like to manipulate the slave arm 1140, including
joints, actuators, end effectors 1150, and so forth to perform
various tasks, such as lifting a load 1155. In one aspect, the
master control arm can include at least one joint 1136 which bends
in a direction different or opposite from a corresponding human
joint. As shown in the figures, an elbow joint 1136 of the master
control arm and an elbow joint 1137 of the slave arm can move/bend
in a similar or corresponding position, which may be kinematically
inconvenient to a user. However, due to the location of the
secondary platform 1110 above the primary platform 1105, moving
objects or loads may be difficult or uncomfortable to the user if
kinematic equivalence is implemented. Thus, the master control arm
elbow joint can be allowed to move in a substantially opposite
direction of the user's elbow joint 1138 to enable convenient and
comfortable operation of a downwardly rotated slave arm.
[0289] In one example, the slave arm 1140 can include a linear DOF,
such as a telescoping arm, as indicated generally at 1145.
Telescoping of the slave arm can be accomplished using controls on
the master control arm 1135 or using the control lever 1130.
[0290] Referring now to FIG. 17C, a detail cross-sectional side
view of a portion of the system 1100 is shown in accordance with an
example. The base 1120 is shown slidably supported by rails 1116,
1117. A rail support member 1118 extends between the rails. The
base is slidable along the rails using running wheels 1166, 1167,
1168, 1169. Running wheels 1166, 1167 can be coupled together by
linkage 1170 and running wheels 1168 and 1169 can be coupled
together by linkage 1171. The linkages can be attached to the base
1120. Providing upper 1166, 1168 and lower 1167, 1169 running
wheels can enable rolling of the base along the rails and prevent
the base from falling off of or otherwise becoming displaced from
the rails. One or more of the running wheels can be coupled to a
motor 1175 by a drive shaft 1180. Rotating the drive shaft in
different directions can move the base along the rails from side to
side in the direction of the drive shaft rotation. A control line
1185 can electrically connect the control lever to the motor to
enable the user to control the motor.
[0291] In one aspect, the primary platform 1110 can be disposed at
a fixed location. In another aspect, a base of the secondary
platform can be fixedly disposed on the primary platform, such as
on a truck, as opposed to being moveable relative to the primary
platform.
[0292] In general, the master control arm and the slave arm can be
in any location relative to one another. For example, referring
again to FIG. 1, the master control arms are illustrated as being
in a close proximity relationship with the slave arms. In this
case, the master control arms are mounted behind the slave arms in
a position that is out of the zone of operation of the slave arms.
In one aspect, the master control arms can be located within the
zone of operation of the slave arms. With the user located outside
the zone of operation of the slave arms, however, the user is
protected from unwanted contact with the slave arms. In a specific
aspect, the master control arms can be detached from the platform
and the user can position the master control arms in front of the
slave arms within a range of motion, or in the zone of operation,
of the slave arms. In another specific aspect, the user can
position the master control arms toward the front of the slave arms
but outside of the range of motion, or outside the zone of
operation, of the slave arms. The user may find such a position
provides a better vantage point for observing the operation of the
slave arm than being located elsewhere, such as behind the slave
arms.
[0293] In certain aspects, the master control arms can be remotely
located relative to the slave arms. For example, in a hazardous
operating environment, such as in a radiological disaster area, the
master control arms, along with the operator, can be located in a
safe location and any distance away from the slave arms. The slave
arms, via a mobile platform, can be remotely operated within the
hazardous area.
[0294] The platform and/or slave arm can include equipment or
features that provide information that can assist the user in
operating the platform and/or slave arm in a remote environment.
For example, the mobile platform and/or slave arm can include
sensing equipment that can assist the user in detecting obstacles
around the mobile platform and/or slave arm, and in gathering
information about such obstacles and the operational environment.
Such equipment can include a laser rangefinder, a radar, a
positional sensor, a sonar array, a camera, a light, a microphone,
and a combination of these. Of course, these are not intended to be
limiting in any way as other types of sensors and equipment may be
utilized as known in the art. Such instruments can provide the user
with information about the remote workspace to enable the user to
effectively operate the mobile platform and/or slave arms without
being physically present or in close proximity to the slave
arms.
[0295] In one aspect, two or more cameras can be directed to
capture images from different vantage points to convey image
information to the user for operating in a remote environment. For
example, with a front camera and a rear camera, when the user
switches to the rear (or front) camera view, mobile platform drive
commands can be automatically remapped and appropriate information
for the view can be displayed accordingly. Thus, the user can drive
the mobile platform into narrow confines without having to back
out. The user can simply select a different camera view and drive
out normally. This can provide a safer, more efficient way to
navigate the mobile platform out of tight spaces than having to
back out or physically turn the mobile platform around.
[0296] To enhance the users ability to control the mobile platform
and/or slave arms, two cameras can be utilized to provide
stereoscopic vision to the user. The two cameras can be spaced
apart proportional to the spacing of the user's eyes relative to
the spacing of the user's shoulders, the spacing of the user's
shoulders corresponding to the spacing of the two slave arms. In
another aspect, gas or odor detection equipment can also be
employed to detect and analyze gas composition in the vicinity of
the mobile platform and/or slave arm.
[0297] Data or information can be conveyed between the remote
mobile platform and the user's location by any suitable means. For
example, any wired or wireless communication format or network can
be used, such as radio, satellite, optical transmissions, internet,
cell phone networks, land lines, cable, etc.
[0298] Information received from the remote mobile platform and/or
slave arm can be conveyed to the user via any suitable means. For
example, visual information can be presented to the user with
visual displays such as user wearable goggles, televisions,
computer screens, monitors, cell phones, smart phones, personal
digital assistants (PDA), etc. Audio information can be presented
to the user with speakers, headphones, etc. Additionally, the user
can receive tactile information from the mobile platform and/or
slave arm. For example, the user can receive force reflection from
the slave arm to the master control arm. As described herein, the
master control arm can produce a load on the user proportional to a
load acting on the slave arm. This tactile sensory information
alone can greatly enhance the user's ability to operate the slave
arm in a remote location. When force reflection is combined with
other sensory input, such as video and/or audio, the user can take
advantage of the three most important senses for moving about in a
space. In a remote operation scenario, the master control arms can
include position sensors, load sensors, actuators, and any other
element or auxiliary component to be fully functional and provide
force reflection to the user, as described herein. Thus, the user's
location can be equipped with sufficient power, data transmission
capabilities, etc. to support a master control arm and data
presentation tools necessary to remotely operate a mobile platform,
slave arm, and/or end effector.
[0299] The user can control the mobile platform, slave arm, and/or
end effector with any suitable means. For example, the user can use
a hand control such as a dial, lever, switch, keyboard, mouse,
joystick, video game controller, etc., a foot control, or any other
device that can be manipulated by an extremity of the user to
operate and control functions of the mobile platform, slave arm,
and/or end effector. Remote control or operation of the mobile
platform and/or slave arm can be via a touch screen mounted near
the user or elsewhere in a visible location, or can be via an
application on the user's smart phone or other PDA device that
wirelessly communicates with the system. In another example, the
teleoperated mobile platform, slave arm, and/or end effector can
respond to the user's voice commands. The user can control a
variety of mobile platform functions or data gathering equipment at
the remote site using voice commands, including controlling the
lighting, the position of the camera, microphone, sensors, etc. The
user can also control various end effector functions using voice
commands, such as power on/off, or any other controllable feature
of an end effector.
[0300] In another aspect of the present invention, a plurality of
master control arms can each remotely control a plurality of
respective slave arms. For example, as illustrated in FIG. 18, a
plurality of master control arms 1220 can be located on a truck
1200, each master control arm 1220 configured to control a remote
slave arm 1230. The truck can be equipped with the master control
arms, and/or the master control arms can be portable, with the
master control arms being temporarily located on the truck. In this
example, a plurality of users can use the plurality of master
control arms to remotely control a plurality of slave arms.
Additionally, the truck can be equipped with a display and/or a
speaker to assist the users in controlling the slave arms. In one
aspect, the display and/or speaker can be mobile and transportable
with a master control arm. For example, a headgear or shoulder
harness can support the display and/or speaker for a user. In a
particular aspect, the display and/or speaker can be attachable or
attached to the master control arm. For example, the master control
arm can include a harness or other user wearable apparatus and the
display and/or speaker can be coupled to the harness or wearable
apparatus.
[0301] Whether in close proximity or remotely located relative to
one another, the master control arm and the slave arm can be linked
by signals communicated via wired or wireless data transfer
systems. Wireless transmissions can be via radio, satellite, cell
phone network, or any other type of wireless communication.
[0302] In one aspect, a master control arm can be part of a master
control system comprising the master control arm and a frame member
configured to support the master control arm. The master control
system can be removably attachable to a platform to allow the user
to relocate the master control arm relative to the platform and/or
a slave arm, as illustrated in FIGS. 19A-19E, and to facilitate
selective on-board off-board user control of the slave arm relative
to the platform.
[0303] The master control arms 200A and 200B can be coupled to a
master control arm frame member 1318 and 1310 at arm coupling pads
1320A and 1320B. For example, the master control arms can be bolted
to the frame member at the arm coupling pads. The arm coupling pads
can be reinforced members to support the master control arms. The
frame member can be secured and removably attached to a platform,
such as platform 400 in FIG. 1, with a frame coupling point 1312A
and 1312B engaging a mating coupling point 1332A and 1332B of a
coupling mount on the platform. For example, the frame coupling
point can be a female coupler or socket and the coupling point of
the coupling mount can be a mating male coupler or socket. The
coupling mount can also include coupling posts 1330A and 13308. The
coupling point of the coupling mount can be disposed on or
connected to coupling posts 1330A and 1330B. The couplers can
provide a physical restraint of the frame when frame is coupled to
the platform. The couplers can provide a power connection, a data
connection, a fluid connection (e.g., a hydraulic coupling), a gas
connection (e.g., a pneumatic coupling), or any combination of
these connections. The removable attachable element of the frame
coupling point and platform coupling point can include a hook,
snap, detent, clip, insert, slot, or other suitable detachable
coupling for the master control arm to the platform. The detachable
coupling can be configured to securely support and maintain a
coupling arrangement during use of the master control arm when
coupled to the platform.
[0304] In a specific aspect illustrated by the detachable master
control arm frame 1300 and 1302 in FIGS. 19A-B, the frame member
can include a harness or other user wearable apparatus, such as a
shoulder strap 1314A and 1314B and/or a waist belt (or strap) 1316.
The user can thus "put on" and "wear" the master control arm and
detach the master control arm from the platform. The wearable
nature of the master control arm can enhance the user's ability to
use the master control arm when away from the platform.
[0305] Referring to FIG. 19A, an example detachable master control
arm frame 1300 illustrates a flexible tether 1340 of the master
control arms to the platform. The tether can be a hose, cord,
and/or bus for providing gases, fluids, power, and/or data.
[0306] In another aspect illustrated by an example detachable
master control arm frame 1302 in FIG. 19B, the master control arm
frame can include a module 1342 with an electrical storage device
1343, storage compartment (not shown), and/or a wireless
communication module 1345. The electrical storage device, such as a
battery pack, can provide power to the master control arm when the
frame is detached from the platform. The electrical storage device
may automatically be charged when the frame is coupled to the
platform. A wireless communication module can allow the master
control arm to wirelessly communicate with the slave arm and/or the
platform when the frame is detached from the platform. The frame
can include a handle (not shown) to enhance portability of the
master control arm. The frame can be mounted on a separate fixture
or rack (not shown) with platform coupling points separate from the
platform. The separate fixture can allow the frame to be supported
and, optionally, the battery recharged, when the frame is not
coupled to the platform. A hand controller (not shown) may also be
physically coupled or wirelessly linked to the frame. The hand
controller may provide controls to operate the platform and the
equipment attached to the platform. For example, with the hand
controller, the user can remotely control a mobile platform
associated with the teleoperated robotic system and drive the
mobile platform to a desirable location when the user is not on the
mobile platform.
[0307] In another exemplary embodiment, the master control arm
frame can include a counter balancing weight 1344 to balance the
weight of the control arms on the shoulder or waist of the user. A
balanced load can reduce the fatigue on the user and allow for
extended use by the user. In another embodiment, the arm coupling
pads 1320A and 1320B of the frame can be positioned behind the user
to achieve a more balanced weight distribution of the master
control arms on the user, so that a counter balancing weight can be
reduced or eliminated.
[0308] FIGS. 19C-D illustrate master control arms 200A and 200B
coupled to the detachable master control arm frame 1300, which is
coupled to a platform 400. In one aspect, the frame and master
control arm can be constructed of lightweight materials that can be
carried by a user. Lightweight materials that can support a load of
the master control arm can include materials such as aluminum,
titanium, plastic, carbon fiber, or a combination of these and
other strong lightweight materials. Steel may also be used in the
frame and/or the master control arms. The frame can be constructed
to conform to a users back for comfort and supported by shoulder
straps and a waist belt.
[0309] In another aspect illustrated by an example detachable
master control arm frame 1304 in FIG. 19E, the master control arm
frame can allow for a coupling of the master control arms to the
frame around waist level or below the shoulders. The vertical
member 1350 coupled to the horizontal member 1318 can be shorter or
eliminated to provide for a desired coupling location with the
master control arms. For example, the horizontal member can be
coupled directly to the waist belt. In one aspect, the waist belt
or horizontal member can be braced to the legs of the user to
provide rotational stability of the detachable frame on the user.
In another aspect, the detachable master control arm frame 1304 can
include the shoulder straps 1314A, 1314B to provide stability when
worn by a user.
[0310] In certain aspects, a single master control arm can control
multiple slave arms. For example, a single master control arm can
be operatively coupled to a plurality of slave arms and can control
the slave arms in sequence, such as by switching active control to
a given slave arm. In another example, a single master control arm
can control a plurality of slave arms simultaneously, where each of
the slave arms carries out the commands of the master control
arm.
[0311] In certain other aspects, a single slave arm can be
controlled by a plurality of master control arms. In other words, a
plurality of master control arms can be capable of communicating
commands to a single slave arm. At any given time, one of the
master control arms can be operatively coupled to and actively
controlling the slave arm. For example, a plurality of master
control arms and a plurality of slave arms can be part of a fleet
of teleoperated robotic devices. A user can select a master control
arm, which can be paired with an available slave arm. The pairing
can be accomplished by communication over a wireless network that
communicates with master control arms and slave arms to update and
manage current pairings. In another aspect, a master control arm
can sync and pair with one of a plurality of slave arms directly,
such as when in close proximity to one another.
[0312] In accordance with the present disclosure, a teleoperated
robotic system can include master control arms and slave arms in
any combination. In one aspect, a teleoperated robotic system can
include a single master control arm and a single slave arm. In
another aspect, a teleoperated robotic system can include a
plurality of master control arms and a plurality of slave arms. In
the event of an unequal number of master control arms and slave
arms, the robotic system can further comprise a control module that
facilitates alternate and selective control and operation of the
various master control and slave arms within the robotic system
such as user interface elements, processing elements, signal
receiving and commanding elements, filtering elements, etc. The
control module can be configured to facilitate user determination
of which master control arms control which slave arms.
[0313] In a particular example, illustrated in FIG. 19F, a
teleoperated robotic system 1360 can include three slave arms 1362,
1364, 1366 and two master control arms 1372, 1374. The three slave
arms can be on the same platform 1361. Each of the two master
control arms can actively configured to control one, two or all
three of the slave arms to perform a task, such as lifting a steel
beam into position for welding. Using a control module or system,
the user can switch control of one of the master control arms to
selectively control any one of and different slave arms. For
example, in a system with two master control arms and three slave
arms, a first master control arm may be configured to selectively
control one of the three slave arms, with the second master control
arm also being configured to selectively control one of the three
slave arms. This type of system may be beneficial in applications
where one or more slave arms can remain stable while one more other
slave arms perform an intended function. For instance, a user can
utilize the two master control arms to control two of the three
slave arms at any given time, and cause them to hold an object in
place in a particular location. Once in place, the user may utilize
the control module to switch control of one of the master control
arms to the third slave arm, wherein the master control arm
manipulates the third slave arm to perform secondary function with
respect to the object (e.g., weld the object in place).
[0314] In another particular example, a teleoperated robotic system
can include three slave arms and three master control arms. As in
the previous example the three slave arms can be on the same
platform. In this example, however, each slave arm is controllable
by one of the three master control arms. Thus, two of the master
control arms can actively control two slave arms, such as to lift a
steel beam into position for welding. The user can then operate the
third master control arm to control the third slave arm to weld the
steel beam in place while the first two slave arms hold the beam in
position.
[0315] Illustrated in FIGS. 20 and 21, a teleoperated robotic
system can include one or more end effectors 1410, 1420, 1430 that
can be coupled to an end of a slave arm 1403 to interface with an
object in the workspace. When coupled, the end effectors can be in
communication with and controllable by a master control arm. In a
more specific example, a coupled end effector can be in
communication with an end effector control unit 1450 that is
coupled to the master control arm. Optionally, the end effector
control unit is separate from the master control arm, such as on a
console or control panel accessible to the user.
[0316] As shown in FIG. 21, the end effector control unit 1450 is
disposed on the master control grip 1440, thereby enabling a user's
hand that is already grasping the master control grip 1440 to more
quickly access the end effector control unit 1450 and adjust the
end effector as desired. In one aspect, the end effector control
unit 1450 includes a control switch, such as button 1452 and button
1454, which can function to adjust and manage an end effector as
desired. For example, one or more adjustment buttons may be used to
control the strength of a magnetic force of a magnetic end
effector, the flame of an end effector welding torch, the rpm of an
end effector saw, or other such controls of an end effector coupled
to the slave arm. The end effector control unit 1450 can include
one or more sensors, circuits, and switches that enables a user to
switch the power on or off and/or adjust the settings dependent
upon the type of end effector tool that is coupled to the
teleoperated robotic system.
[0317] As shown in FIG. 20, an end effector can incorporate a
variety of tools and other useful devices such as, but not limited
to, an adjustable clamp, a claw having one or more finger-like
extensions, variable and non-variable electromagnets, and so forth.
An end effector can additionally include inspection devices or
tools such as bar code scanners, infrared scanners, coordinate
measuring tools, as well as other types of tools such as welding
torches and implements, saws, hammers, and so forth. It is further
contemplated that an end effector can include detectors and
analyzers for harmful matter such as radiation; chemicals, and so
forth; thereby enabling detection and analysis of harmful
substances. In a particular aspect, the end effector can be
configured to grasp human hand tools. In this case, the end
effector control unit can enable the user to not only control the
end effector for grasping the hand tool, but also provide the user
with the ability to operate the hand tool. Such control may be
accomplished with a "hand-like" or "finger-like" multi DOF master
control, or simply with buttons, dials, levers, or the like that
can manipulate the end effector to operate the hand tool.
[0318] In another example, also shown in FIG. 20, end effectors
1410, 1420, 1430 can be removably coupled to the slave arm 1403
(e.g., through a quick release system), such that one end effector
can be quickly uncoupled from the slave arm and interchanged with
another end effector. It is contemplated that an end effector can
be removably coupled to the slave arm in a variety of ways. In the
illustrated example, the end effectors 1410, 1420, 1430 include an
attachment end 1406 configured and sized to couple to the receiving
end 1408 of the slave arm 1403. Conversely, the receiving end 1408
of the slave arm 1403 is sized to receive the attachment end. Once
coupled to the slave arm 1403, a retaining member can be used to
securely retain the attachment end 1406 to the receiving end 1408
of the slave arm 1403. The detachable coupling can be configured to
securely support and maintain an end effector during use of the
slave arm and end effector. The coupling between the slave arm and
end effector can include mating couplers or sockets. The coupling
can provide a physical restraint for the end effector when coupled
to the slave arm, such that the coupling can withstand the loads
placed on the end effector. Additionally, the coupling can provide
a power connection, a data connection, a fluid connection (e.g., a
hydraulic coupling), a gas connection (e.g., a pneumatic coupling),
or combination of these connections. The coupling can include a
hook, snap, detent, clip, insert, slot, or other suitable
detachable coupling for the end effector to the slave arm.
[0319] Shown in FIG. 22, the end effector 1460 can include one or
more extendable lengths 1462, 1464 to extend a device or tool,
disposed at an end of the end effector 1460 and coupled to the
extendable length 1464 most distant to the slave arm 1403. The one
or more extendable lengths 1462, 1464 are configured to provide the
end effector 1460 with a linear DOF for greater reach, as shown at
extended position 1466. As shown, the one or more extendable
lengths are configured in a telescopic formation, having a first
extendable length 1462 coupled and sized to retract into an
interior of the end effector 1460, and the second extendable length
1464 coupled to the first extendable length 1462 and sized to
retract into the first extendable length 1462. The one or more
extendable lengths 1462, 1464 can be in communication with the
master control arm 1403 and/or master control grip 1450 such that a
user can extend the one or more extendable lengths outward, thereby
increasing reach of the end effector 1460. It is contemplated that
the one or more extendable lengths 1462, 1464 can be powered in a
variety of ways, such as through a hydraulic, electric, or
pneumatic system.
[0320] A robotic slave arm 1520 coupled to a platform 1510 can be
used in an inventory system, as illustrated in FIG. 23. The
platform can be mobile and can comprise tracks 1512 or wheels (not
shown) to facilitate locomotion. An end effector 1530 can be
coupled to an end of the robotic slave arm. The end effector can
include a mechanism for lifting or acquiring an item. The item can
refer to a generic inventory item, for example, such as a steel
plate, a crate, or a munition. The end effector can include an
electromagnet 1540 for lifting ferromagnetic items or a gripping
mechanism (not shown). The end effector can include a scanning
device 1550A or 1550B coupled to the end effector, the robotic arm,
or the platform. The scanning device can include a barcode reader,
matrix code scanner, a radio frequency identification (RFID)
scanner, a device for reading or sensing identification tags, or
combination of these scanning devices. The scanning device may be
on any face of the end effector, the robotic slave arm, or the
platform. The scanning device may be integrated with the end
effector, the robotic slave arm, or the platform.
[0321] FIG. 23 illustrates a front scanning device 1550B on a front
face of the end effector and a rear scanning device 1550A on a rear
face of the end effector. The front scanning device may have a
scanning range 1552B in front of the end effector. The rear
scanning device may have a scanning range 1552A behind the end
effector. In another example, the end effector may only use a
single scanning device. In other examples (not shown), the scanning
device can be coupled to the robotic slave arm or the platform with
a scanning radius near the scanning device. In one aspect, the
scanning device can be coupled directly to the electromagnet 1540
or gripping mechanism.
[0322] The item or object can have an object tag attached or
affixed thereto. The scanning device 1550A and 1550B can scan the
object tag when the object is acquired by the end effector 1530.
The scanning device may continually scan object tags of various
items in the vicinity. The scanning device may scan the object tag
before, during, or after the object is acquired by the end
effector. The object tag can be a barcode, matrix code, or a RFID
tag. The scanning device may record or register the object tag when
the object is acquired or released by the end effector. The
scanning device can register an object reference when the object
tag is read. The scanning device may record or transmit the last
object tag read before acquiring or releasing an object, which may
be the object tag associated with the object manipulated by the
robotic arm.
[0323] The platform may include a logging device coupled to the
platform for recording an object record associated with the object
and object tag. The scanning device can transmit the object
reference to the logging device. In one example, the logging device
may include data storage coupled to the platform for storing the
object record. In another example, the platform may include a
platform transceiver 1570 for transmitting the object reference via
wireless communication from the scanning device to a central
repository.
[0324] The central repository may be within a computerized storage
device or operate from multiple computer systems operating in a
network. The central repository can include a database. The
computerized storage device can include a computer readable storage
medium that includes volatile and non-volatile (transitory and
non-transitory), removable and non-removable media implemented with
any technology for the storage of information such as computer
readable instructions, data structures, program modules, or other
data. Computer readable storage media can include, but is not
limited to, RAM, ROM, EEPROM, flash memory or other memory
technology, CD-ROM, digital versatile disks (DVD) or other optical
storage, magnetic cassettes, magnetic tapes, magnetic disk storage
or other magnetic storage devices, or any other computer storage
medium which can be used to store the desired information.
[0325] In still another example, the platform transceiver 1570 can
transmit the object reference via wired or wireless communication
from the scanning device to a user interface. The user interface
can also be used to control the platform and the robotic arm.
[0326] In an example, a locating device 1560 can be coupled to the
robotic slave arm or the platform. The locating device can include
a global satellite positioning (GPS) device or receiver. The
locating device can be used to determine a position of the robotic
slave arm when the end effector acquires an object, transports the
object, or releases the object. An object location may be
associated with the object when the object is acquired,
transported, or released. The object location may be provided in
global position coordinates, a subdivided partition or space, or
sector. The object location may be associated with the object
reference and stored with the object record in a central
repository.
[0327] FIG. 24 illustrates a platform 1510 in support of at least
one robotic slave arm and transporting an object 1620. An object
tag 1622 can be attached or integrated with the object. In the
illustration of FIG. 24, the platform is in an inventory area with
multiple items 1630A-1630Q. An object tag 1632A may be affixed to
each of the items. The platform 1510 may be controlled by a user
riding on the platform (e.g., as taught herein) or by a user
walking near the platform (not shown). In another example, the user
may control the platform and robotic slave arm using a user
interface 1690. The user interface may communicate with the
platform via wireless communication. The scanning device on the
robotic slave arm may scan the object tags of objects at anytime
the platform transports objects from a starting location to an end
location. The robotic slave arm may be used to inventory an object.
The robotic slave arm may be used to audit inventory.
[0328] In the inventory process, the robotic slave arm may acquire
an object at a starting location. When an electromagnet is coupled
to an end effector or robotic slave arm, the object can be acquired
when the electromagnet is magnetized. The object can be released
when the electromagnet is demagnetized. When a gripping mechanism
is used, the object can be acquired when the gripping mechanism
grips the object. The scanning device may scan the object when the
object is acquired. The platform may move the object to an end
location. The end effector may release the object at an end
location. A logging device may log an object reference representing
the object with the end location. The logging device may
automatically track the location of the object when the end
effector has possession of the object. The logging device may
transmit the object reference from the logging device to a central
repository 1640.
[0329] The platform 1510 may wirelessly transmit data, which can
include the object reference and the object location, via the
platform transceiver to the central repository 1640. The central
repository can include a database 1642, as illustrated in FIG. 25.
The central repository may be connected to a network or the
Internet. In one aspect, the central repository may operate from a
cloud. The database may include a plurality of object records. The
object reference may be recorded in an object record 1644 or
transmitted when the object is released by the end effector. The
registered location of the robotic slave arm when the end effector
releases the object can provide the object location or end
location. The end location may replace a previous location stored
for the object in the database. The central repository can include
a central repository transceiver 1672, which can communicate with a
platform transceiver 1570 and/or a user interface transceiver 1692
coupled to a user interface 1690. The platform transceiver can
transmit an object reference and an object location to the central
repository.
[0330] The platform may include data storage logging device 1574
for logging the scanned object reference and the object location.
The data storage logging device may periodically transmit scanned
object references and the object locations for a plurality of
objects. The data storage logging device may be memory stored on
the platform and physically removed periodically from the platform
and exported to the central repository via repository port or
interface or a wireless connection.
[0331] In another example, a camera 1580 can be coupled to the
platform 1510 or the robotic arm 1520. The camera can be used to
guide the platform when the platform is operated remotely by a user
using a user interface. The camera can be used to view the object
and/or the surroundings. The camera may be a still camera or a
motion video camera. The camera may capture an object image. The
object image may be digitally processed to determine the object
dimensions. The object dimensions may be height, width, length, or
diameter. The object image may be processed by a processor coupled
to the platform or at a processor used by the central repository.
The object image may be stored in the object record or with the
object reference. The object image may be retrieved from the
central repository and displayed to a user.
[0332] In one example, a weighing scale 1582 may be coupled to the
robotic arm 1520 or integrated in the robotic slave arm. The
weighing scale may be used to weigh the object. An object weight
may be transmitted with the object reference and may be stored in
the object record 1644.
[0333] An object record 1644 in a database can include an object
characteristic 1646. The object characteristic may include an
object location, an object weight, an object size, or other
information associated with the object. The object characteristic
may be determined by the information gathering devices coupled to
the platform 1510, such as the locating device 1560, camera 1580,
scanning device 1550, and/or weighing scale 1582. The item
characteristic may be information associated with the object tag or
object reference previously acquired or entered.
[0334] In another example, an object may be located and acquired
using the inventory system and a platform with a robotic device. An
object reference or object description may be provided via a user
interface. The object description may provide characteristics or
qualities of the object that can be searched in a database. The
user interface may be coupled to the platform and directly wired to
the platform or the user interface may communicate via wireless
communication with a central repository and a platform. The user
interface may transmit the object reference to a central
repository. The central repository may be queried with the object
reference. The database in a central repository may retrieve or
return an object record with an object location or an object
location, where the object record is associated with the object
reference. The object location may be transmitted from the central
repository to the user interface or the platform. The user may move
the platform via the user interface to the object location. The
platform may acquire the object at the location with the robotic
arm coupled to the platform. In another example, the platform may
automatically navigate through an area with other objects to arrive
at the location of the queried item. The platform may use proximity
sensors to avoid running into other items.
[0335] The platform or user interface 1690 may use a mapping device
1694 to map the queried object and other objects in a specified
area. The mapping device can be coupled or integrated into a user
interface. The mapping device may be a mapping application
operating on a user computer system with a processor and display.
The platform may avoid other objects using the map generated by the
mapping device. In another example, the map may be displayed to a
user. The mapping device may locate the current position of the
platform or the robotic slave arm and the queried object location.
The mapping device may update the location as the platform
approaches or moves away from the queried object. The mapping
device may have various levels of detail based on the distance
between the platform and queried object or input of the user. The
mapping device may provide a route from the platform position to
the queried object position. The route may use the size and
position of other objects stored in the central repository to
generate the map and provide an efficient route around the other
objects to the queried object.
[0336] In another example, the object references or object
characteristics may be displayed on a map on the mapping device for
a user to view. The user may select an object reference from the
map to retrieve or acquire. The selected object may be highlighted
on the display. The user may use the map to drive the platform to
the object location.
[0337] In another example, the platform may scan objects without
lifting or acquiring the object. When an object is scanned without
lifting or moving the object, the location of the robotic arm when
the object is scanned can provide the object location, which can be
stored in the central repository. Scanning objects not being moved
can allow an area previously not inventoried to be inventoried as
the platform moves through an area, as long as the scanning device
can read the objects tags of the object the platform passes.
[0338] Another example provides a method 1700 for inventorying an
object using a robotic arm, as shown in the flow chart in FIG. 26.
The method includes the operation of acquiring an object at a
starting location with a robotic arm coupled to a platform, as in
block 1710. The operation of scanning the object when the object is
acquired with a scanner coupled an end effector coupled to an end
of the robotic arm follows, as in block 1720. The next operation of
the method may be moving the object to an end location via the
platform, as in block 1730. The method further includes releasing
the object at the end location, as in block 1740. The next
operation of the method may be logging an object reference
representing the object with the end location in a logging device,
as in block 1750.
[0339] The system and method disclosed can provide an automatic
recordation of inventory objects that do not necessarily have a
fixed location or compartment along with a record of the objects
location. For example, the inventory system can be used in a ship
yard where materials, steel plates and other objects can cover many
acres. The same device used to move heavy objects can scan and log
the data associated with the object through the process of
transporting the object.
[0340] The teleoperated robotic device can further comprise various
lifting devices associated with the platform. In one exemplary
embodiment, a lifting device 1800 can be coupled to a platform
1810, as illustrated in FIG. 27A. The lifting device can be
configured in a manner similar to a forklift. The platform can be
mobile and be transported using tracks 1812 or wheels. Other
devices and equipment may be coupled or supported by the platform.
For example, a robotic arm 1880 may be coupled to the platform, as
discussed herein. The lifting device can be configured to work in
conjunction with the robotic arm to perform additional lifting
functions beyond or more efficiently than what either of these may
perform alone. The lifting device may be constructed with or
without a lifting mast, discussed below. The lifting device may
have a low profile and positioned in the front or rear (not shown)
of the platform.
[0341] A lifting device may include a bracket 1910, an arm 1920
(e.g., a fixed arm) with a pivot point 1926 facilitating the
rotation of the bracket, an actuator 1950 for rotating the bracket
around the pivot point, and a lift carriage (shown as reference
number 1944 in FIGS. 28A and 28B) coupled to the bracket. In
certain aspects, the arm 1920 need not be fixed and can be movable
relative to the platform. For example, the arm 1920 can
extend/retract from the platform. In another example, the arm 1920
can be raised/lowered relative to the platform. An end 1928 of the
arm may be coupled to the platform 1810. Rigid support on, or
coupling of the arm to, the platform may be provided by a weld,
bolt, pin, rivet, etc. An end 1956 of the actuator 1950 may be
coupled to the platform 1810. In one aspect, the coupling point of
the actuator to the platform may be a pin connection that allows
the actuator to rotate when the actuator piston moves from one
position to another.
[0342] The actuator 1950 may include a housing and a piston, where
the piston moves within the housing. The actuator may operate with
electricity, hydraulic fluid pressure, or pneumatic pressure. The
actuator may convert electrical energy into motion. A control
signal may be used to actuate the actuator. The actuator may rotate
the bracket from a lowered position, as illustrated in FIG. 27A, to
a raised position, as illustrated in FIG. 27B.
[0343] The arm or brace 1920 can include stationary cogs or teeth
1924 on an end 1922, where the stationary cogs can rotate a gear
1930, as illustrated by FIG. 28A. The end 1928 of the arm can be
coupled to the platform 1810. A bracket 1910 may be rotatably
coupled to the end 1922 of the arm 1920 by a pivot 1926. The pivot
point 1926 may be a fixed arm pin, bolt, axle, etc. The pivot point
1926 may include a bearing to reduce friction in the pivot point.
Bearings may be used in other rotational joints. The bolt may be
restrained by a nut and/or a washer. The fixed arm pin and other
pins used for coupling gears to the bracket or other member may
include lateral restraints so the pin does not slide out of a
rotating point. For example, a lateral restraint can be a cotter
pin.
[0344] The bracket 1910 can be formed of metal or another rigid
material. The gears and components can be constructed of steel and
other similar metals. The bracket can have the shape of a polygon.
In one aspect, the bracket can have a generally triangular shape.
The arm 1920 can be coupled to a first point 1926 of the bracket
with a fixed arm pin, a lift gear 1940 can be coupled to a second
point 1942 of the bracket with a lift gear pin, and the actuator
1950 can be coupled to a third point 1954 of the bracket. The
actuator piston 1952 can be coupled to the bracket by a pin, bolt,
or axle 1954. A lift gear 1940 may be coupled to the bracket 1910
and a lift carriage 1944. The lift carriage may be raised and
lowered in elevation as the bracket rotates around the pivot point
1926. A center gear 1930 can be coupled to the bracket with a
center gear pin 1932. Thus, the center gear 1930 can couple the
cogs 1924 on the arm 1920 to the lift gear 1940.
[0345] In one aspect, the gear ratio between the cogs 1924 of the
arm 1920, center gear 1930, and the lift gear 1940 may be
calculated so a lift carriage coupled to the lift gear may rotate
to maintain an orientation relative to the ground. The gear ratio
can be the relationship between the number of teeth on two gears
that are meshed or two sprockets connected with a common roller
chain. In another example, a chain may be used instead of a center
gear.
[0346] In use, the actuator piston causes the bracket 1910 to
rotate about the pivot 1926 when the actuator is actuated. When the
actuator 1950 is actuated to raise the lift, the rotation of the
bracket 1910 about the pivot 1926 causes the lift carriage to
rotate away from a ground surface. Also, as the bracket 1910
rotates, the center gear 1930 engages with the cogs 1924 on the arm
1920, causing the center gear 1930 to rotate counterclockwise, as
illustrated in FIG. 28B. The center gear 1930 also engages the lift
gear 1940, which causes a clockwise rotation in the lift gear 1940
due to the counterclockwise rotation of the center gear 1930.
Because the gears are rigidly coupled to one another via the
bracket 1910, this action of the gears causes the lift carriage
1944 to maintain an orientation relative to the ground surface as
the bracket is rotated about the pivot 1926. The lifting device
operates similarly in a reverse direction to lower the lift.
[0347] In one aspect, a lifting arm 1960 may be coupled to the lift
carriage 1944. The lifting arm many include a load back rest 1964
(FIG. 27A) and a horizontal arm 1962 (FIG. 27A). The horizontal arm
(or horizontal member) can be used for lifting a load, and the
vertical member can provide a load stop. The horizontal arm may be
integrated with the load back rest and transition from a horizontal
member (horizontal arm) to a vertical member (the load back rest).
The transition or joint between the horizontal arm and the vertical
member may be angled or reinforced to keep the transition or joint
rigid.
[0348] The lifting arm 1960 may have a keyed groove 1966 that can
mate with a keyed notch 1944 in the lift carriage. The keyed groove
or keyed hook can be coupled to the vertical member or the load
back rest 1964 and used for mounting the lifting arm to the lift
carriage. The keyed notch and corresponding keyed groove may allow
for some lateral movement of the lifting arm on the lift carriage
and restrict movement on an anterior-posterior axis of the lift
carriage. The keyed lift carriage and/or the keyed arms may
maintain a level position relative to a surface upon which a
platform is on when the lift gear is rotated. The keyed arm can be
easily removable and may slide across the lift carriage which can
provide a lateral alignment with a load, such as a pallet or crate.
The keyed arm may utilize a gravity or friction fit. The lift
carriage and/or the keyed arm may include grooves 2044 on some
portion of the mating surfaces for reducing lateral movement of the
keyed arms once the arms are adjusted in a lateral position,
illustrated in FIG. 29. The arms may be partially lifted on an
extended end of the arm to slide the arms laterally on the lift
carriage to adjust the position. The arm may be lowered to engage
the grooves of the keyed lift carriage with the grooves of the
keyed arm.
[0349] In another example, the lift gear, the lift carriage, or the
coupling between the lift gear and the lift carriage can include a
rotary actuator for leveling the lift carriage. The rotary lift
gear can rotate the lift carriage with respect to the lift gear.
The rotary actuator may provide a minor adjustment to the lift
carriage angle when the platform is on uneven terrain, an incline,
or a decline, where a level geared position in the lift carriage
may create a decline or incline in the lift arms.
[0350] An actuator, a fixed arm, a pivot point, a lift gear, and a
center gear may be provided for a right bracket 2010 and a left
bracket 2012, illustrated in FIG. 29. A lift carriage 2044 may be
coupled between a right lift gear and a left lift gear. Multiple
keyed arms 1960 and 2062 may be mounted on the keyed lift
carriage.
[0351] In another example, a folding lifting device can be coupled
to a platform 2110, as illustrated in FIG. 30A, which is similar to
the platform of FIGS. 27-29, and which may also support one or more
robotic arms, as discussed herein. The folding lifting device may
allow the carriage to reach high platforms, for example a platform
of a truck, train and/or warehouse shelf. Allowing the mast and
carriage to fold can allow the lifting device to be stowed away
when the lifting device is not in use. A folding lifting device can
be folded to allow full mobility of equipment and devices mounted
on the platform, such as robotic arms and cranes.
[0352] The folding lifting device can have an arm 2140 extending
from the platform 2110 and a mast 2120 rotatably connected to the
platform. The platform and the mast can be coupled about a mast
pivot point 2114. The mast can rotate about the mast pivot from a
near vertical position to a folding position on the platform. A
carriage 2130 can be slidably connected to the mast, where the
carriage can slide up and down the mast, An actuator 2122 can be
coupled to the platform and the mast and used to rotate the mast
between a vertical position and folded position. The actuator can
be coupled to the platform with a platform pin 2124 and to the mast
with a mast pin 2126 that allows the members of the actuator to
move or rotate when the mast rotates. The carriage may be raised,
as illustrated in FIG. 30B, or lowered, as illustrated in FIG. 30A,
with the mast in a vertical or near vertical position.
[0353] The carriage can include the arm 2140 and a load back rest
2131. The arm can extend horizontally when the mast is in a
vertical position, as illustrated in FIGS. 30A-30B. The arm can be
used to lift a load. For example, a load may be a crate, pallet, or
piece of equipment. The load back rest may provide a coupling
between the mast and the carriage and provide a stop for a load
when the platform acquires a load and pushes against a load. The
arm may be rotatably connected to the load back rest with a
carriage pivot pin 2134. The arm may rotate 90 degrees between a
perpendicular position with the load back rest (an open position),
as illustrated in FIG. 300, and a parallel position with the load
back rest (a folded position), as illustrated in FIG. 30D.
[0354] An arm stop 2132 can be integrated with the load back rest
2131 or coupled to the load back rest 2131. The arm stop can
provide a stop for the arm 2140 when the arm is in an open fixed
position (perpendicular with the load back rest). The arm stop can
provide support for the arm and the load carried by the arm. In
another example, the carriage pivot point can be a rotary actuator
for extending the arm from the load back rest (perpendicular with
the load back rest) and/or for folding the arm on the load back
rest (parallel with the load back rest).
[0355] The mast 2120 and carriage 2130 can fold toward and in some
cases onto the platform 2110, as illustrated in FIGS. 300-30D. The
mast can rotate at least 20 degrees from a vertical position toward
the platform. When the mast is folded on to the platform the mast
may be supported on mast rests (not shown) integrated with or
coupled to the platform. When the mast is opened to a vertical
position, mast stops may be used to stop the mast from rotating
beyond a specified position, such as at a 5 degree angle from a
vertical position. The mast stop may be integrated with the
platform or mast or coupled to the platform or mast. A lift chain
and other components may be coupled to the mast and carriage to
move and lift the carriage. Controls may be used to actuate the
actuator coupled to the mast and the rotary actuator coupled to the
carriage.
[0356] The lifting device may be coupled to a platform having a
robotic arm 2220 mounted on the platform, as illustrated in an
example shown in FIGS. 31A-31B. Wheels 2212 may be coupled to the
platform. In one aspect, the mast may be forked to provide
clearance for the robotic arm so that the potential for
interference with the movement of the robotic arms by the vertical
members of the mast is minimized. In another aspect, the mast
members may have a wide separation so the interference with the
movement of the robotic arms by the vertical members of the mast is
minimized. In still another aspect, the mast may be telescoping so
the mast has a low vertical height (low profile) when the carriage
is in a lower position. The platform, lifting device, and/or the
robotic arm can be controlled remotely by a remote control. The
folding lifting device can be folded onto the platform when the
lifting device is not in use. Other lifting device configurations
can also be used as will be apparent to those skilled in the
art.
[0357] While the foregoing examples are illustrative of the
principles and concepts discussed herein, it will be apparent to
those of ordinary skill in the art that numerous modifications in
form, usage and details of implementation can be made without the
exercise of inventive faculty, and without departing from those
principles and concepts. Accordingly, it is not intended that the
principles and concepts be limited, except as by the claims set
forth below.
* * * * *