Manipulator Control via Force-Driven Discrete Increments
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Solution Overview
Problem
Existing methods for controlling manipulators, such as robots, using force input by an operator lack precision due to involuntary muscle movements and inertia, resulting in less accurate movement control compared to traditional hand-held devices.
Innovation Solution
A method that determines the target direction of movement based on the force exerted by an operator, using force sensors to detect the force and movement, allowing the manipulator to move in discrete increments, thereby reducing the influence of involuntary movements and inertia.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If force-based control is used to enable intuitive operation, then ease of operation is improved, but measurement precision deteriorates due to involuntary muscle movements and inertia
Solution Approach 1:
A force sensor serves as an intermediary device that objectively measures the force applied by the operator on the manipulator, converting physical force into precise directional information. This mediator eliminates the need for the operator to directly control movement through muscle movements, instead using the force sensor's measurement to determine the target direction of movement while the actuator executes the precise movement.
2Ease of operation
If continuous movement control is used for smooth operation, then ease of operation is improved, but manufacturing precision deteriorates due to inability to achieve fine resolution
Solution Approach 1:
The movement control is segmented into discrete incremental steps. The manipulator moves in small predetermined distance increments in the target direction determined by force direction, rather than continuous movement. This segmentation allows precise positioning at each increment while maintaining operational simplicity through force-based directional control.
3Measurement precision
If force sensors are added to detect force direction, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The force sensor performs multiple functions: it detects both the magnitude and direction of the operator's applied force, and this information is used to determine the target direction of movement. The same force measurement that provides precision also drives the control decision, eliminating the need for separate directional sensors and reducing overall system complexity.
Data Source
Figure 1~2
AI summary
The method involves moving the manipulator in a detected target-moving direction about a predetermined distance (deltaS). Forces (F,F') exerted on the manipulator are detected for determining the target-moving direction or a movement of the manipulator due to the exerted force is recorded. The predetermined distance depends on the force exerted on the manipulator. Independent claims are included for the following: (1) a device for controlling a manipulator, particularly a robot; (2) a computer program for executing the manipulator controlling method; and (3) a computer program product with a program code stored on a machine readable carrier.