Accurate estimation of end effector velocity is critical in robotic applications involving high bandwidth modeling and control. The invention comprises two approaches for accurate velocity estimation, namely (1) two-channel approach and (2) observer-based approach, by using accurate position measurements and inaccurate acceleration measurements. A standard encoder and a solid-state accelerometer are required for the implementation. The signals from these devices are combined in the robot controller and processed using the proprietary algorithm (including the gain and offset parameter adaptation), which can be readily embedded into generic robot controller software.
The invention has application in both modeling and real-time control of robots where high frequency components of the velocity are required to perform accurate simulation and control. The most commercially attractive application for the invention is in haptic devices for surgery and related teleoperations. The invention would allow these devices to achieve a higher degree of haptic fidelity and force control. Potential users for this invention include manufacturers of haptic interfaces for robot-assisted surgical procedures and for simulation and surgical training.
The Business Opportunity
In rigid contact robot applications it is very difficult to achieve force control for tip contact with a solid surface or other features such as corners where there is sudden change in direction. The invention provides a smoother contact and continuous grasping of the rigid target by the robot.
This technology is available for licensing. There is an opportunity for this invention to improve the haptic interface performance in surgical simulations. Also, existing manufactures of surgical robots with haptic interfaces may be able to incorporate the invention into their existing system to improve the tactile experience by the surgeon.
Technology Transfer Details
This technology is available for licensing.
The business opportunity may be referred to by its CSA case ID: 50779
Role at the Canadian Space Agency
- He joined CSA in 2001.
- Engineer in robotics.
- Ph.D from Xi'an Jiaotong University in China (1991).
- Robotics Control Engineer.
- He is the author of a book entitled Virtual Decomposition Control (VDC), a revolutionary approach resulting in a breakthrough in precision control of complex robots, published by Springer. He has successfully applied VDC to STVF and CART to achieve unprecedented control precision in both output force control of hydraulic cylinders and adaptive control of harmonic drives. He also developed a generic velocity estimation approach by using both position and acceleration sensors. His current research activity includes FPGA-based control of modular robots. He has authored and co-authored more than 70 papers in leading international journals and conference proceedings. His work has been cited more than 400 times internationally with a SCOPUS h-index of 12.
- Since obtaining his Ph.D of Engineering, he has conducted research works in a number of international institutes including Shanghai Jiaotong University from 1991 to 1995, Korea Advanced Institute of Science and Technology in 1995, Katholieke Universiteit Leuven from 1996 to 1997, and University of British Columbia from 1997 to 2001.
- He was the winner of the Swedish Open Championship in Robust Robot Control 2004, sponsored by ABB Robotics.
Role at the Canadian Space Agency
- He is a robotics engineer in the Space Exploration branch
- He joined CSA in 2001
- Technical degree in industrial electronics from Cégep André-Laurendeau, Montréal (1996).
- Bachelor's degree in electrical engineering from École de Technologie Supérieure, Montréal (2000).
- Master's degree in electrical engineering from École Polytechnique, Montréal (2009).
- As a research engineer, he has been involved in the design, integration, test and demonstration of numerous robotic systems and subsystems, as well as multiple related test beds.
- Covering both robotic manipulators and rovers, his tasks have mainly concentrated on sensing, actuation, motion control, autonomous navigation and electronics. For one, he designed and integrated the 360° coverage Light Detection and Ranging (LIDAR) system supporting CSA's robotics group in their work on rover autonomous navigation.
- He has also been the technical authority on various technology development contracts, including one to develop, manufacture and test the JUNO rover platform. He is currently the technical lead for the development of a lunar rover terrestrial prototype.