Teleoperated Robotic System

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.

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 . A teleoperated robotic system, comprising:
 three slave arms;
 a first master control arm configured to control at least one of the three slave arms; 
 a second master control arm configured to control at least one of the three slave arms; and 
 a control module that facilitates user determination of which of the three slave arms are to be controlled by the first and second master control arms. 
   
     
     
         3 . The teleoperated robotic system of  claim 2 , wherein the first and second master control arms each comprise 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. 
     
     
         4 . The teleoperated robotic system of  claim 3 , wherein the three slave arms each comprise at least two support members coupled together about a joint to form a degree of freedom corresponding to the degree of freedom of at least one of the first or second master control arms. 
     
     
         5 . The teleoperated robotic system of  claim 2 , wherein the control module facilitates alternate and selective control and operation of at least one of the three slave arms by any one of the first and second master control arms. 
     
     
         6 . The teleoperated robotic system of  claim 2 , further comprising a mobile platform supporting the three slave arms. 
     
     
         7 . The teleoperated robotic system of  claim 6 , wherein the mobile platform is maneuverable about a ground surface and within an operating environment, the mobile platform being adapted to provide onboard support of the user within an operating area that facilitates selective operation of at least one of the first and second master control arms and the mobile platform, wherein the first and second master control arms and the three slave arms are commonly supported about the mobile platform to provide a mobile teleoperation function. 
     
     
         8 . The teleoperated robotic system of  claim 6 , further comprising a master control system comprising a frame member, and further comprising a wearable apparatus operable with the frame member to secure the frame member about the user, and wherein the first and second master control arms are supported about the frame member and the wearable apparatus, and wherein the master control system is removably coupled to the mobile platform to facilitate selective on-board off-board user control of the three slave arms relative to the mobile platform. 
     
     
         9 . The teleoperated robotic system of  claim 2 , wherein two of the three slave arms are operable by user control of the first and second master control arms to perform a primary function, and wherein the control module is configured to switch control of one of the first or second master control arms to selectively control and operate the third slave arm to perform a secondary function. 
     
     
         10 . The teleoperated robotic system of  claim 2 , further comprising a force reflection function, wherein a load sensor on each slave arm provides load information that is communicated to the respective first and second master control arms, wherein the first and second master control arms each further comprise at least one actuator, and wherein the at least one actuator actuates the respective first and second master control arms to apply a proportional load to the user. 
     
     
         11 . The teleoperated robotic system of  claim 2 , further comprising a tap response function, wherein a force feedback is provided to the operator through the master control arm when at least one slave arm contacts an object to enable the operator to sense when the at least one slave arm makes contact with the object, the tap response function being based on a derivative of a slave load value. 
     
     
         12 . The teleoperated robotic system of  claim 4 , further comprising a gravity compensation function, wherein a compensating torque is provided at the degree of freedom of the respective first and second master control arms, the gravity compensation function compensating for an effect of gravity on the respective first and second master control arms. 
     
     
         13 . The teleoperated robotic system of  claim 4 , further comprising a gravity compensation function, wherein a compensating torque is provided at the degree of freedom of at least one of the slave arm, the gravity compensation function compensating for an effect of gravity on the at least one slave arm. 
     
     
         14 . The teleoperated robotic system of  claim 2 , wherein at least one of the three slave arms further comprises an end effector operable to interface with and manipulate an object. 
     
     
         15 . The teleoperated robotic system of  claim 14 , wherein the end effector is removably coupled to the respective slave arm, and wherein the end effector is interchangeable with another end effector. 
     
     
         16 . The teleoperated robotic system of  claim 2 , wherein each slave arm comprises:
 a plurality of support members coupled together about a plurality of joints, and   a load sensor associated with one of the plurality of support members that measures a load applied by a payload in at least one degree of freedom and provides load data for the payload; and   a payload stabilization function that utilizes the load data for the payload to facilitate actuated movement of the slave arm in response to the load applied to the load sensor by the payload, and that causes the slave arm to respond to the load applied to the payload to stabilize the payload,   wherein at least one slave arm of the three slave arms moves to minimize a component of the load applied by the payload to at least two load sensors, when at least two slave arms are engaged with the payload.   
     
     
         17 . The slave arm system of  claim 16 , wherein each slave arm moves to minimize the force component of the load applied by the payload that is perpendicular to gravity, such that each slave arm tends to position the load sensor above a center of gravity of the payload to minimize a swing of the payload. 
     
     
         18 . The teleoperated robotic system of  claim 2 , wherein each slave arm comprises:
 a first support member and a second support member coupled together about a joint having a degree of freedom corresponding to a degree of freedom of the respective first and second master control arms, wherein a lateral edge of the first support member overlaps a lateral edge of the second support member to facilitate relative rotation of the first support member and the second support member such that the first support member and the second support member swing relative to one another about an axis associated with the slave arm degree of freedom;   a first linkage rotatably coupled to the first support member and configured for motion in a plane; and   a second linkage rotatably coupled to the first linkage and the second support member, wherein motion by the first linkage in the plane causes an out of plane relative rotational movement of the first support member and the second support member about the axis associated with the slave arm degree of freedom.   
     
     
         19 . The teleoperated robotic system of  claim 18 , wherein the first linkage is rotatably coupled to the first support member about an axis substantially perpendicular to the axis associated with the degree of freedom of the joint, and wherein each slave arm further comprises an actuator coupled to the first support member and the first linkage to cause motion of the first linkage and to facilitate movement of the slave arm at the degree of freedom of the joint in response to a movement of the respective first and second master control arms. 
     
     
         20 . The teleoperated robotic system of  claim 2 , further comprising a third master control arm configured to control at least one of the three slave arms. 
     
     
         21 . A teleoperated robotic system, comprising:
 a plurality of master control arms, each 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 first 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 plurality of master control arms; and   a control module that facilitates alternate and selective control and operation of the first slave arm by any one of the plurality of master control arms.   
     
     
         22 . The teleoperated robotic system of  claim 21 , further comprising a second 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 plurality of master control arms, wherein the first slave arm and the second slave arm are selectively and alternatively controllable by one of the plurality of master control arms. 
     
     
         23 . The teleoperated robotic system of  claim 22 , further comprising a third 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 plurality of master control arms, wherein the first, second, and third slave arms are selectively and alternatively controllable by one of the plurality of master control arms.