Multi-Finger Remote Control Using Fingertip Inverse Kinematics
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Solution Overview
Problem
Conventional remote control systems for multi-fingered hands face challenges in accurately detecting and replicating the intricate finger postures of human operators, especially due to differences in finger structure and size between humans and robots, leading to difficulties in performing detailed fingertip remote control.
Innovation Solution
A remote control system that includes a coordinate origin setting part, an operator joint angle information acquisition part, an operator finger length measurement part, an operator fingertip position calculation part, and an end effector joint angle derivation part using inverse kinematics, allowing for accurate calculation and replication of finger postures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If inverse kinematics is used to control multi-fingered hand with multiple joints, then the robot can achieve complex finger postures, but the calculation processing time increases significantly
Solution Approach 1:
The patent segments the inverse kinematics calculation into two independent parts: (1) calculating the wrist position from arm joint angles, and (2) calculating finger joint angles from the wrist position and desired fingertip position. This segmentation allows each calculation to be performed separately and efficiently, reducing the overall computational burden while maintaining the ability to achieve complex finger postures.
2Device complexity
If conventional direct remote control is used where operator's joint angles are directly commanded to the robot, then the control system is simple, but accurate fingertip position control cannot be achieved when operator and robot have different finger structures and sizes
Solution Approach 1:
The patent introduces the wrist position as an intermediary element in the control chain. Instead of directly mapping operator joint angles to robot joint angles, the system first calculates the operator's wrist position from their joint angles, then uses this wrist position as a reference to calculate the robot's finger joint angles through inverse kinematics. This intermediary approach enables accurate fingertip position control despite differences in finger structure and size between operator and robot.
3Ease of operation
If the robot hand structure and size are made identical to the operator's hand, then direct joint angle mapping works perfectly, but the robot design becomes limited and cannot accommodate different operational requirements
Solution Approach 1:
The patent changes the control parameter from direct joint angle mapping to wrist position-based inverse kinematics calculation. This parameter change allows the robot to maintain its own optimized hand structure and size while still achieving accurate fingertip position control. The system adapts to different robot configurations by recalculating the inverse kinematics based on the specific robot's wrist position and finger geometry, rather than requiring the robot to match the operator's hand dimensions.
Data Source
AI summary
A remote control system includes: a coordinate origin setting part for setting coordinate origins of an operator and an end effector; an operator joint angle information acquisition part for acquiring information on a joint angle of a finger of the operator; an operator finger length measurement part for measuring a length of each link of the finger of the operator; an operator fingertip position calculation part for calculating a tip position of each finger of the operator viewed from a local coordinate origin of an operator model to be a fingertip position of the operator from information acquired by the operator joint angle information acquisition part and the operator finger length measurement part; and an end effector joint angle derivation part for deriving a joint angle of the end effector from the fingertip position of the operator and a local coordinate origin of the end effector by inverse kinematics.