Haptic Bilateral Control With Delay Compensation for Force Precision
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Solution Overview
Problem
Conventional haptic transmission systems experience degradation in control performance and instability due to communication delays during remote bilateral control, particularly when high-precision control is required for both position and force, leading to insufficient precision in force control.
Innovation Solution
A haptic transmission system with a master device and a slave device connected through a communication path, incorporating position and force control sections, and delay compensation to mitigate communication delays, ensuring accurate force balance and high-precision haptic transmission by using a position controller, force controller, velocity controller, and delay compensation section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If communication delay compensation is not implemented, then the system structure remains simple, but control performance degrades and instability occurs due to communication delays
Solution Approach 1:
The delay compensation section performs preliminary compensation for communication delays before the control signals are transmitted between master and slave devices. By predicting and compensating for the delay in advance, the system maintains stable bilateral control without requiring complex real-time adjustment mechanisms during operation.
Solution Approach 2:
A delay compensation section is introduced as an intermediary component between the position/force control sections and the communication path. This mediator processes the control signals to compensate for communication delays, isolating the core control logic from the timing issues introduced by network latency.
2Measurement precision
If conventional bilateral control is used, then the system is easy to implement, but precision in force control is insufficient
Solution Approach 1:
The control system is segmented into distinct functional modules: position control section, force control section, and delay compensation section. Each module handles a specific aspect of control, allowing the force control precision to be enhanced independently without redesigning the entire system architecture.
Solution Approach 2:
The system changes the timing parameters of control signals by introducing delay compensation. By adjusting the timing of force control signals to account for communication delays, the system achieves high-precision force control while maintaining the original control structure.
3Measurement precision
If delay compensation is implemented for force control, then precision in force control is enhanced, but the communication path complexity increases
Solution Approach 1:
The delay compensation section serves as an intermediary that processes communication signals without requiring changes to the physical communication infrastructure. It compensates for delays in the existing communication path while maintaining its original structure, avoiding increased communication path complexity.
Data Source
AI summary
A haptic transmission system includes a master device and a slave device. The master device controls position and force in an operation of the master device based on information acquired from the operation of the master device and information relating to a response of the slave device, and compensates for a communication delay in a communication path with respect to the control of force. The slave device controls speed and force in an operation of the slave device based on information acquired from the operation of the slave device and information relating to control from the master device.