Manipulator Control Method for Channel Insertion
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Solution Overview
Problem
Conventional manipulators face challenges in efficiently inserting a joint structure into a channel member due to varying bending states and external forces, leading to increased tension and potential interference between joints, which complicates precise control and insertion.
Innovation Solution
A manipulator control method that detects load amounts in the power transmission member and driving portion, adjusts the driving amount to maintain tensions within a target range, and corrects for interference between joints, ensuring the joint structure follows the channel member's bend while minimizing external forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulator is inserted into a bent channel member, then the joint structure portion can reach the application site, but the insertion resistance increases and interference occurs between joints
Solution Approach 1:
The control device detects the load amount on the power transmission member during insertion and automatically adjusts the driving amount of the power transmission member to maintain the load within a predetermined target control range, creating a bending state where the joint structure portion follows the channel member's curvature
Solution Approach 2:
The system dynamically adjusts the driving amount of the power transmission member based on real-time load detection, enabling the joint structure to adaptively follow the channel member's bends during insertion
2Productivity
If the driving amount of power transmission member is increased to push the joint structure through bent channels, then insertion can be achieved, but the load exceeds the target control range causing interference
Solution Approach 1:
The control device continuously detects the load amount on the power transmission member and adjusts the driving amount to maintain the load within the target control range, preventing joint interference while ensuring efficient insertion
3Measurement precision
If multiple joints are controlled independently, then each joint can be positioned precisely, but mutual interference between joints increases
Solution Approach 1:
The control device detects the load amount on the power transmission member and adjusts the driving amount to maintain optimal load conditions, preventing mutual interference between joints while achieving precise positioning
Solution Approach 2:
The system changes the driving amount parameter of the power transmission member based on detected load conditions, creating a bending state that allows joints to follow the channel member's curvature without interfering with each other
Data Source
AI summary
A method for controlling a manipulator includes a joint structure portion having one or more joints connected to a distal end of an insertion portion, a power transmission member inserted into the insertion portion to transmit driving force to the joint structure portion, and a driving portion that drives the power transmission member and which is guided to an application site by being inserted into the channel member. When the manipulator is operated in an insertion control mode for inserting the joint structure portion into the channel member, the method includes detecting a load amount generated in the power transmission member or the driving portion; and creating a bending state in which the joint structure portion follows the channel member by controlling a driving amount of the power transmission member by the driving portion such that the load amount becomes within a predetermined target control range.