Master Slave Robot Force Correction for Magnification Incongruity
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Solution Overview
Problem
Master slave robots face challenges in accurately manipulating tasks due to a sense of incongruity between the operator's manipulation and the projected motion picture, particularly with changes in magnification percentage, leading to inadequate force application and task inaccuracies.
Innovation Solution
A control apparatus and method for a master slave robot that includes a force information acquiring unit, a display information acquiring unit, a force information correcting unit, and a force information presentation unit, which corrects force information based on magnification percentage to match the operator's manipulation with the projected motion picture, ensuring accurate task performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the motion ratio between master robot and slave robot is adjusted, then maneuverability is improved, but the force feedback accuracy deteriorates
Solution Approach 1:
The patent resolves this contradiction by dynamically changing the force information parameter based on the current magnification percentage. When motion ratio adjustments are made for maneuverability, the force information is proportionally scaled to compensate, maintaining accuracy across different operational modes. This allows the system to switch between maneuverability optimizations without sacrificing force feedback precision.
2Measurement precision
If force information is amplified to match high magnification, then visual-manipulation congruity improves, but the operator may apply excessive force to the slave robot
Solution Approach 1:
The patent applies parameter changes by proportionally scaling the force information based on magnification percentage rather than simple amplification. This mathematical transformation ensures that the force feedback remains accurately proportional to the actual forces at the slave robot, preventing excessive force application while maintaining visual-manipulation congruity. The correction factor compensates for magnification effects without introducing force multiplication.
Data Source
AI summary
A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.