Virtual reality simulation-based training of telekinegenesis system for training sequential kinematic behavior of automated kinematic machine

• US 6,445,964 B1
• Filed: 01/18/2000
• Issued: 09/03/2002
• Est. Priority Date: 08/04/1997
• Status: Expired due to Term

• Current Assignee: North South Holdings Incorporated (Spherix Incorporated)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: White, John E., Ambrose, Hollis, Stancil, Brent A.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): BARNES-BULLOCK, CRYSTAL JOY
• Application Number:
  US09/484,734
• Time in Patent Office: 959 Days
• Field of Search: 700/61, 700/253, 700/254, 700/258, 700/257, 706/44, 706/920, 345/952, 703/7, 600/416
• US Class Current: 700/61
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/40121 Trajectory planning in virtual space
• CPC Class Codes: G05B 2219/40168 Simulated display of remote site, driven by operator interaction
• CPC Class Codes: Y10S 706/92 Simulation

Abstract

To train the sequential kinematic behavior of an automated telekinegenesis robot system, a virtual reality simulator is driven with kinematic parameter data derived from a teleoperational device, which models the sequential behavior to be exhibited by the target robot. Sensor outputs of the teleoperational device are processed by a geometry conversion algorithm, to generate data representative of the spatial kinematics of the robot'"'"'s desired travel path. A kinematic machine simulator program within a robotic control simulation workstation simulates a virtual machine based upon the actual parameters of the robot. The virtual reality simulation program is interactive, allowing the workstation operator to selectively interrupt the operation of the machine, modify its control parameters, and then rerun the program, until the desired behavior of the target machine is achieved. When the target machine'"'"'s simulated kinematic behavior produced by the virtual reality simulation workstation exhibits the desired dynamic spatial geometry profile, the customized spatial parameter data stored in the workstation is processed by the virtual reality simulation program, to produce a sequence of kinematic control instructions that are downloaded into the micro controller of the target machine. When executed, the kinematic control instructions cause the robot to exhibit its intended on-line sequential kinematic behavior.

Claims

1. A method of controlling the operation of an automated kinematic device comprising the steps of:

(a) operating a teleoperational sensory machine to generate spatial position data that describes a sequence of operational movements of a kinematic travel path, to be followed by components of said automated kinematic device, during a desired sequential kinematic behavior thereof, along a sequence of spatial conditions that define a desired dynamic spatial geometry profile along which said automated kinematic device is to travel during operation thereof;

(b) generating a virtual reality simulation of kinematic behavior of said automated kinematic device along said sequence of spatial conditions that describe said desired dynamic spatial geometry profile along said prescribed sequential kinematic travel path to be followed by said automated kinematic device in accordance with said data generated in step (a);

(c) generating, from the kinematic behavior of said automated kinematic device simulated in step (b), a sequence of instructions which, when executed to control the operation of said automated kinematic device, cause said automated kinematic device to exhibit said desired sequential kinematic behavior along said sequence of spatial conditions that describe said desired dynamic spatial geometry profile along said prescribed sequential kinematic travel path; and

(d) controlling the operation of said automated kinematic device in accordance with said sequence of instructions generated in step (c), thereby causing said automated kinematic device to exhibit said desired sequential kinematic behavior along said sequence of spatial conditions that describe said desired dynamic spatial geometry profile of said prescribed sequential kinematic travel path.

2. A method according to claim 1, wherein step (b) includes, in the course of generating said virtual reality simulation, selectively interactively modifying one or more parameters of said virtual reality simulation sequential kinematic behavior of said automated kinematic device, as necessary, to enable said automated kinematic device to realize said dynamic spatial geometry profile of said prescribed sequential kinematic travel path.

3. A method according to claim 1, wherein said automated kinematic device comprises a multi-axis robot.

4. A system for controlling the operation of an automated kinematic device comprising:

a travel path generation unit which is operative to generate data representative of a sequence of movements to be followed by components of said automated kinematic device, during a desired sequential kinematic behavior thereof, along a sequence of spatial conditions subsequent to a starting condition of said automated kinematic device, said sequence of spatial conditions describing a desired dynamic spatial geometry profile of a prescribed sequential kinematic travel path of said automated kinematic device; and

a virtual reality simulator coupled to said travel path generation unit, and which is operative to generate a virtual reality simulation of kinematic behavior of said automated kinematic device along said sequence of spatial conditions that describe said desired dynamic spatial geometry profile along said prescribed sequential kinematic travel path to be followed by said automated kinematic device in accordance with said data generated by said travel path generation unit, and to produce a sequence of instructions which, when executed to control the operation of said automated kinematic device, cause said automated kinematic device to exhibit said desired sequential kinematic behavior along said sequence of spatial conditions that describe said desired dynamic spatial geometry profile of said prescribed sequential kinematic travel path.

5. A system according to claim 4, wherein said virtual reality simulator is operative, in the course of generating said virtual reality simulation, to selectively modify one or more parameters of said simulated sequential kinematic behavior of said automated kinematic device, as necessary, to enable said automated kinematic device to realize said dynamic spatial geometry profile of said prescribed sequential kinematic travel path, and to generate said sequence of instructions for controlling the operation of said automated kinematic device, in accordance with one or more parameters which have been selectively modified.

6. A system according to claim 4, wherein said automated kinematic device comprises a multi-axis robot.