Dual-Arm Potential Field Control for Force-Guided Teleoperation
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Solution Overview
Problem
Current force guidance methods for teleoperation of dual-arm robots are inadequate in complex and dynamic environments, failing to consider workspace influence and often leading to position errors and operator burden due to lack of coordinated control strategies.
Innovation Solution
A force guidance telerobotic system using dual-arm collaborative potential fields, which includes real-time pose determination, dynamic collaboration strategies, and haptic feedback to assist operators in controlling robotic arms for precise task completion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional virtual force guidance methods are used for single robotic arm, then position control can be achieved, but dual-arm coordinated control cannot be provided leading to operator burden
Solution Approach 1:
The patent merges the control of two robotic arms into a unified dual-arm collaborative potential field framework. By constructing a combined potential field that considers both arms' workspaces, obstacles, and target positions, the system provides integrated virtual force guidance that naturally coordinates dual-arm movements without requiring separate control strategies for each arm.
Solution Approach 2:
The patent implements dynamic collaboration strategies that adapt in real-time based on the robotic arms' positions, workspace boundaries, and task requirements. The collaboration factor between arms is dynamically adjusted during operation, allowing the system to switch between cooperative and independent control modes as needed, thereby reducing operator burden while maintaining control flexibility.
2Adaptability or versatility
If predefined structured environment fixtures are constructed, then force guidance can be provided, but adaptability to complex dynamic unstructured environments is lost
Solution Approach 1:
The patent replaces static predefined fixtures with a dynamic potential field model that is continuously reconstructed based on real-time environmental perception. The collaborative potential field is updated according to current robotic arm positions, detected obstacles, and target locations, enabling the system to adapt to complex dynamic unstructured environments while maintaining control stability through the mathematical consistency of the potential field framework.
Solution Approach 2:
The system incorporates continuous feedback from environmental perception and robotic arm state monitoring to dynamically adjust the collaborative potential field. By using feedback from position sensors, obstacle detectors, and task completion status, the system reconstructs the potential field in real-time, ensuring adaptability to changing environments while maintaining reliable control through closed-loop feedback mechanisms.
3Manufacturing precision
If parabolic function potential fields are constructed, then attractive and repulsive forces can be generated, but resultant force becomes zero preventing target reaching
Solution Approach 1:
The patent modifies the potential field parameterization by introducing a collaboration factor that asymmetrically weights the attractive and repulsive force components for each robotic arm. Instead of using symmetric parabolic functions that cancel out, the system adjusts the potential field parameters based on each arm's workspace, obstacle proximity, and contribution to task completion, ensuring the resultant force consistently guides both arms toward the target without canceling out.
4Ease of operation
If current force guidance methods are used, then single-arm control can be achieved, but workspace influence on task completion is not considered
Solution Approach 1:
The patent applies local quality by constructing the collaborative potential field with arm-specific components that account for each robotic arm's unique workspace boundaries, kinematic constraints, and task relevance. The potential field parameters are locally optimized for each arm based on its position and capabilities, allowing the system to provide precise control tailored to each arm's workspace characteristics while coordinating their collaborative operation.
Data Source
AI summary
Disclosed are a force guidance telerobotic system and control method based on a dual-arm collaborative potential field. A real-time pose of a tool center point of each of the two robotic arms is obtained using a robotic arm kinematic model, and checking is performed to determine whether a shortest distance dp-s,i between a target object and a workspace boundary of each of the two robotic arms is lower than a threshold Ds; a dual-arm symmetric collaboration strategy will be adopted when higher than the threshold; a single-arm primary collaboration strategy will be adopted when lower than the threshold; and a coordination factor δi of each of the robotic arms is determined according to the collaboration strategy; the dual-arm collaborative potential field is constructed according to the collaboration factor, a distance between the target object and the tool center point and a position of obstacle.