Master Arm Imaginary Force Control for Remote Robot Feel
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Solution Overview
Problem
Conventional remote control robot systems can create a gap between the anticipated and received operational feel for operators, particularly when handling heavy objects, leading to reduced workability due to the burden of sensing external forces like gravity through the master arm.
Innovation Solution
A remote control robot system that includes a slave arm, a master arm with a motor, an instruction generating module to apply an imaginary external force independent of external forces received by the slave arm, and a motor controller to supply drive current for the master arm, allowing for improved operational feel by reducing the burden of external forces on the master arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator operates the master arm while perceiving the weight of the object held by the slave arm, then the operator can sense the gravity of the object, but this becomes a burden to the operator
Solution Approach 1:
The patent segments the external force into two independent components: the actual force received by the slave arm from the exterior, and an imaginary external force generated independently by the instruction generating module. This segmentation allows the operator to perceive only the imaginary force that matches their anticipation, while the actual external force is processed separately through the force sensor, thereby eliminating the burden of perceiving heavy object weights.
2Reliability
If the operator operates the master arm while perceiving the reaction force and gravity of the object, then the operator receives complete force feedback, but a gap arises between the feel anticipated by the operator and the feel received through the master arm
Solution Approach 1:
The patent introduces an intermediary mechanism - the instruction generating module - that generates an imaginary external force independent of the actual force sensor readings. This intermediary force acts as a mediator between the operator's anticipation and the actual system state, providing a consistent and predictable operational feel that matches the operator's expectations, while the force sensor continues to accurately measure the actual external forces for system control.
Data Source
AI summary
A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.