Method of Robot Manipulation in a Vibration Environment

Patent metadata

Field	Value
Publication number	US-2019322384-A1
Application number	US-201815957529-A
Country	US
Kind code	A1
Filing date	Apr 19, 2018
Priority date	Apr 19, 2018
Publication date	Oct 24, 2019
Grant date	—

Abstract

A method of operating a manipulation system of the type having a movable arm with a proximal end connected to a base and a distal end that is movable relative to the base and is coupled to an end-effector. The method comprises moving the distal end of the movable arm towards a target object and into contact with a stabilization object proximate to the target object, maintaining contact between the distal end of the movable arm and the stabilization object while operating the end-effector to perform a desired operation at the target object, and upon completing the desired operation at the target object, disengaging the distal end of the movable arm from contact with the stabilization object.

First claim

What is claimed is:

1 . A method of operating a manipulation system having a movable arm, the movable arm having a proximal end connected to a base and a distal end that is movable relative to the base, the movable arm being coupled to an end-effector, the method comprising:
moving the distal end of the movable arm towards a target object and into contact with a stabilization object proximate to the target object; maintaining contact between the distal end of the movable arm and the stabilization object, while operating the end-effector to perform a desired operation at the target object; and upon completing the desired operation at the target object, disengaging the distal end of the movable arm from contact with the stabilization object.

2 . The method of claim 1 , wherein the movable arm is an articulating arm having at least two linkages that are movably connected to one another via a joint.

3 . The method of claim 1 , wherein the end-effector is movably coupled to the movable arm via an articulating appendage.

4 . The method of claim 1 , wherein the desired operation comprises manipulating a movable object at the target object.

5 . The method of claim 4 , wherein the movable object is a flight controller in the cockpit having at least one of a button, a lever, or a knob.

6 . The method of claim 1 , further comprising the step of sensing an engagement pressure between the distal end of the movable arm and the stabilization object.

7 . The method of claim 1 , further comprising the step of providing a docking station at the stabilization object, the docking station being configured to engage releasably with the distal end of the movable arm.

8 . The method of claim 7 , wherein the docking station comprises a funnel shaped object configured to receive releasably the distal end.

9 . The method of claim 1 , wherein the stabilization object is fixed against movement relative to the target object.

10 . The method of claim 9 , wherein the stabilization object is physically connected with the target object.

11 . The method of claim 1 , wherein the stabilization object and the base are both physically connected to a surface in a cockpit or an aircraft frame.

12 . The method of claim 11 , wherein the stabilization object is physically connected to the target object.

13 . The method of claim 10 , further comprising the step of distinguishing vibration imparted to the manipulation system via the surface from vibration originating from other parts of the manipulation system based at least in part on accelerometer data from one or more accelerometers placed on the manipulation system.

14 . A method of improving a pointing-accuracy of a manipulation system installed on a vibrating surface, the manipulation system comprising a movable arm having a proximal end connected to a base and a distal end movable relative to the base, one or more arm actuators configured to move the movable arm relative to the base, an end-effector coupled to the movable arm, an end-effector actuator configured to control an operation of the end-effector to perform a desired operation on a target object, the base and the target object fixed to the vibrating surface such that they are caused to vibrate by the vibrating surface, and a processor configured to control operation of the end-effector actuator and the one or more arm actuators, the method comprising:
controlling the one or more arm actuators, via the processor, to move the distal end of the movable arm towards a target object and into contact with a stabilization object located proximate to the target object to mechanically-ground the distal end to the stabilization object, wherein the stabilization object is fixed against vibration relative to the target object; controlling the one or more arm actuators and the end-effector actuator, via the processor, to maintain contact between the distal end of the movable arm and the stabilization object while operating the end-effector to perform a desired operation at the target object; and upon completing the desired operation at the target object, controlling the one or more arm actuators, via the processor, to disengage the distal end of the movable arm from contact with the stabilization object.

15 . A manipulation system comprising:
a movable arm having a proximal end connected to a base and a distal end movable relative to the base; one or more arm actuators configured to move the movable arm relative to the base; an end-effector in connection with the moveable arm via an articulating arm linked to the moveable arm; an end-effector actuator configured to control an operation of the end-effector to perform a desired operation on a target object; and a processor configured to control operation of the end-effector actuator and the one or more arm actuators, the processor further configured to:
control the one or more arm actuators to move the distal end of the movable arm towards a target object and into contact with a stabilization object located proximate to the target object;
control the one or more arm actuators and the end-effector actuator to maintain contact between the distal end of the movable arm and the stabilization object while operating the end-effector to perform a desired operation at the target object; and
control the one or more arm actuators, upon completing the desired operation at the target object, to disengage the distal end of the movable arm from contact with the stabilization object.

16 . The manipulation system of claim 15 , wherein the processor is further configured to releasably anchor the distal end of the moveable arm to the stabilization object while the end-effector performs a desired operation at the target object.

17 . The manipulation system of claim 16 , wherein the movable object is a flight controller in a cockpit having at least one of a button, a lever, or a knob.

18 . The manipulation system of claim 15 , further comprising a pressure sensor configured to sense an engagement pressure between the distal end of the moveable arm and the stabilization object.

19 . The manipulation system of claim 15 , wherein the stabilization object is fixed against movement relative to the target object.

20 . The manipulation system of claim 15 , wherein the stabilization object and the base are both physically connected to a surface in a cockpit or an aircraft frame.

21 . The manipulation system of claim 15 , wherein the base comprises one or more accelerometers.

Assignees

• Aurora Flight Sciences Corp

Inventors

• Bosworth William

Classifications

• B64C13/18

  using automatic pilot · CPC title

• B64C13/22

  readily revertible to personal control · CPC title

• B64C13/02

  Initiating means · CPC title

• B25J15/0095

  with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title