Manipulator Model Validation via Force Difference Comparison

The patent applies preliminary validation of the mechanical model before executing model-based control actions. The system validates the model by comparing predicted forces with actual forces under current operating conditions, and only proceeds with control actions if validation succeeds. This preliminary check prevents unreliable control actions caused by model inaccuracies.

The patent implements a feedback mechanism where the actual forces experienced by the manipulator are continuously measured and compared with the forces predicted by the mechanical model. This feedback loop enables the system to detect model inaccuracies and trigger re-validation or fallback to safe modes, thereby maintaining control reliability despite model imperfections.

The patent makes the validation process dynamic by adapting validation frequency and depth to current operating conditions. Validation is performed continuously in the background, with full validation triggered only when necessary (e.g., when model drift is detected or operating conditions change significantly). This dynamic approach balances safety requirements with time efficiency.

The patent implements partial validation by checking only critical model parameters and forces relevant to current operational context, rather than validating the entire model comprehensively. This selective validation approach provides sufficient safety assurance while minimizing validation time and computational overhead.