Master Arm Friction Compensation in Remote Control Robots
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Solution Overview
Problem
Existing remote control robot systems with master and slave arms do not adequately compensate for frictional forces, leading to increased operator effort due to unaccounted motor friction and power-train mechanisms.
Innovation Solution
Incorporating a motor actuator in the master arm that generates torque instruction values to resist frictional forces, reducing the required manipulating force by calculating and compensating for frictional resistance during manual mode operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If friction compensation is not implemented in the motor actuator, then the device complexity remains low, but the manipulating force required by the operator increases
Solution Approach 1:
The friction compensation value is calculated in advance based on the joint angle and angular velocity, and this pre-calculated compensation is integrated into the torque instruction value before being sent to the motor actuator. This preliminary calculation approach reduces the manipulating force while avoiding complex real-time computation during operation.
Solution Approach 2:
A friction compensation calculation unit is introduced as an intermediary component between the operator's manipulation and the motor actuator. This unit calculates the frictional force based on joint parameters and adds it to the torque instruction, effectively mediating the force transmission and reducing the operator's burden without requiring direct modification of the motor actuator hardware.
2Ease of operation
If friction compensation is implemented, then the ease of operation improves, but the device complexity increases
Solution Approach 1:
The friction compensation is achieved by utilizing changes in existing parameters (joint angle and angular velocity) that are already measured by the system's sensors. By calculating friction based on these parameter variations, the system improves ease of operation without requiring additional sensors or hardware modifications.
Solution Approach 2:
The friction compensation mechanism continuously receives feedback from the joint angle sensor and angular velocity information, dynamically adjusting the compensation torque based on the current operating state. This feedback loop ensures smooth operation across different movement conditions while maintaining a relatively simple system architecture.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution reduces the operator's manipulating force required for the master arm, enhancing operational efficiency by accounting for frictional forces in the remote control robot system.
Implementation Method 1
the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor
Data Source
AI summary
A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor.