Teleoperated Robotic System

• US 20120328395A1
• Filed: 12/20/2011
• Published: 12/27/2012
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Jacobsen, Stephen C., Smith, Fraser M., McCullough, John, Colvin, Glenn Jr., Scroggin, Wayco, Olivier, Marc X.
• Granted Patent: US 9,789,603 B2
• Time in Patent Office: Days
• US Class Current: 414/1
• CPC Class Codes: B25J 11/002 Manipulators for defensive or military tasks
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: B66F 9/065 non-masted mobile jacks of the garage type mounted on wheels or rollers B66F5/00
• CPC Class Codes: B66F 9/12 Platforms; Forks; Other load supporting or gripping members
• CPC Class Codes: B66F 9/144 Movements of forks relative to each other - independent
• CPC Class Codes: B66F 9/18 Load gripping or retaining means
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: G05B 2219/40195 Tele-operation, computer assisted manual operation
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile

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.

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. The teleoperated robotic system of claim 1, further comprising 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, and that reduces motion feedback that propagates through the mobile platform.

3. The teleoperated robotic system of claim 2, wherein the master/slave relationship filtering function filters a cross command to minimize oscillations resulting from coupling between master support modes and at least one of a slave support mode and an environment mode.

4. The teleoperated robotic system of claim 2, wherein the master/slave relationship filtering function dampens out oscillations at an identified structural mode frequency by reducing a gain of a command occurring at the identified structural mode frequency, and introducing a phase lead at the identified structural mode frequency.

5. The teleoperated robotic system of claim 1, wherein the 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.

6. The teleoperated robotic system of claim 1, wherein the master control arm comprises a plurality of joints formed by a plurality of support members to facilitate movement in at least five degrees of freedom.

7. The teleoperated robotic system of claim 1, wherein the slave arm comprises a plurality of joints formed by a plurality of support members to facilitate movement in at least five degrees of freedom.

8. The teleoperated robotic system of claim 1, wherein a position of the master control arm is proportionally matched by the slave arm.

9. The teleoperated robotic system of claim 1, wherein a load in the slave arm is proportionally reproduced by an actuator of the master control arm.

16. The teleoperated robotic system of claim 1, further comprising a power source supported about the mobile platform to power at least one of the master control arm and the slave arm.

17. The teleoperated robotic system of claim 1, further comprising a seat located with the area of operation to support the user in a sitting position.

18. The teleoperated robotic system of claim 1, wherein the mobile platform further comprises a slave arm receiving channel, wherein at least a portion of the slave arm is received in the receiving channel when not in operation.

20. The teleoperated robotic system of claim 1, wherein the mobile platform further comprises an omni-directional system to provide the user with multiple degrees of freedom to manipulate and move the platform about the ground surface, the omni-directional system comprising at least three wheels that provide directional orientation independent of one another.

21. The teleoperated robotic system of claim 1, wherein the mobile platform comprises a trailer platform attachable to a trailering vehicle.

10. (canceled)

11. (canceled)

12. (canceled)

13. (canceled)

14. (canceled)

15. (canceled)

19. (canceled)

22. (canceled)

23. (canceled)

24. (canceled)

25. (canceled)

26. (canceled)

27. A platform operable within a teleoperated robotic system, the platform comprising:

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;

a control system that facilitates operation of the at least one master control arm and slave arm.

28. The platform of claim 27, wherein the platform comprises a mobile platform comprising:

a drive system operable with the base to facilitate locomotion about a ground surface,

wherein the power system comprises an on-board power system that operates to power the platform, and

wherein the control system comprise an on-board control system that facilitates operation of the platform.

29. The platform of claim 28, further comprising an operating area that supports a user about the mobile platform, the operating area facilitating operation of at least one of the master control arm and the mobile platform.

34. The platform of claim 27, further comprising a slave receiving channel configured to receive at least a portion of the slave arm in a nested arrangement when not in use, the slave arm being manipulated to a stowed configuration about the platform.

35. The platform of claim 28, wherein the drive system comprises drive elements selected from the group consisting of tracks, wheels, rails, and any combination of these.

36. The platform of claim 28, further comprising an omni-directional system that facilitates movement of the platform in multiple degrees of freedom, the omni-directional system comprising:

a drive system having a plurality of drive elements in the form of wheels,

wherein each of the wheels rotate relative to the platform independent of one another.

30. (canceled)

31. The platform of claim 30, wherein the support system comprises a master control arm support system comprising:

at least one support member that is supported about and that extends from the platform, the support member being adapted to support and position the master control arm to facilitate user operation of the master control arm; and

coupling devices to secure the support member to the platform, and the master control arms to the support member.

32. (canceled)

33. The platform of claim 32, wherein the support system comprises a slave arm support system comprising:

at least one support member secured to the base of the platform; and

coupling devices to secure the support member to the base of the platform and the slave arm to the support member.

37-95. -95. (canceled)