System and method for a robotic manipulator system

• US 10,384,353 B2
• Filed: 05/10/2017
• Issued: 08/20/2019
• Est. Priority Date: 05/16/2016
• Status: Active Grant

• Current Assignee: Veolia Nuclear Solutions Incorporated (Veolia Environnement SA)
• Original Assignee: Kurion Inc. (Veolia Environnement SA)
• Inventors: Martin, Scott, Linnebur, Paul, Rood, Marc, Cole, Matt Denver
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US15/591,978
• Publication Number:
  US 20170326737A1
• Time in Patent Office: 832 Days
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B25J 18/025 telescopic
• CPC Class Codes: B25J 9/0018 Bases fixed on ceiling, i.e. upside down manipulators
• CPC Class Codes: B25J 9/045 Polar coordinate type
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39226 Operational space formulation, project model into cartesian coordinates

Abstract

Systems and methods are disclosed herein for a robotic manipulator arm deployment and control system. The system comprises at least a vertical mast, a mast deployment system comprising at least two cams, an elbow, an arm wherein the arm is operable to deploy tools, and one or more sensors including a non-contact sensor and a dynamic measurement unit. The cams cause the vertical mast and the arm to remain vertical during deployment into an operating space. The non-contact sensor may be used for measuring range and bearing to objects in the operating space in polar coordinates. The dynamic measurement unit comprises accelerometers and rate sensors and is configured as a six degree of freedom three axis sensor operating in a Cartesian coordinate system. The system further comprises a controller operable to receive the polar and Cartesian coordinates from the sensors and convert them to a Cartesian coordinate system.

Claims

1. A robotic arm deployment and control system, comprising:

a robotic arm comprising at least two segments joined by an elbow, wherein a first segment is operably configured as a vertical mast, and a second segment is operably configured to deploy tools from a working end;

a mast deployment system comprising at least two cams, wherein the at least two cams cause the first and second segments to remain vertical during deployment into an operating space;

a non-contact sensor affixed to the first segment for measuring range and bearing to objects contained within the operating space in polar coordinates;

a dynamic measurement unit comprising at least three accelerometers and three rate sensors, wherein the dynamic measurement unit is operably configured as a six-degree of freedom three axis sensor configured to operate in a Cartesian coordinate system;

a controller operably configured to;

receive the polar coordinates from the non-contact sensor and Cartesian coordinates from the dynamic measurement unit,

convert the polar coordinates to Cartesian coordinates based on the Cartesian location of the non-contact sensor and dynamic measurement unit.

2. The system of claim 1, wherein during the conversion from polar coordinates to Cartesian coordinates a debiasing, term is used to mitigate error in translation.

3. The system of claim 1, wherein the controller is further operatively configured to create a three-dimensional map of the operating space.

4. The system of claim 1, wherein at least one of the first segment and the second segment is extendable.

5. The system of claim 1, wherein the second segment bends 180 degrees up from vertical.

6. The system of claim 1, wherein the first segment rotates 360 degrees.

7. The system of claim 1, wherein the non-contact sensor is affixed to the working end of the second segment.

8. The system of claim 1, wherein one accelerometer and one rate sensor is oriented along each axis in the Cartesian coordinate system.

9. The system of claim 1, wherein the non-contact sensor and dynamic measurement unit are operably aligned on all three Cartesian axes.

10. The system of claim 1, wherein the dynamic measurement unit is collocated with the non-contact sensor.

11. The system of claim 1, wherein the controller is further configured to establish a first virtual barrier offset from one or more surfaces in the operating space wherein the first virtual barrier restricts movement of the robotic arm.

12. The system of claim 11, wherein the controller is further configured to establish a second virtual barrier offset from the first virtual barrier, wherein the second virtual barrier when approached by the robotic arm transmits at least one of a warning and haptic feedback to an operator, wherein the haptic feedback is in the form of resistance and wherein the resistance increases as the robotic arm approaches the first virtual barrier.