Master-Slave Force Feedback Control for Flexible Moving Elements
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Solution Overview
Problem
In master-slave systems, the force detected by the slave device is often weaker than the actual input force, particularly when flexible members are used, leading to inaccurate tactile feedback to the master device and inadequate operator response.
Innovation Solution
A control system with a control device that amplifies the tactile force transmitted from the slave device to the master device based on a physical quantity in the slave's moving element, using an amplification factor to enhance perception of tactile force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If bilateral control is performed in a master-slave system, then force feedback control can be applied to the master device, but the force detected by the slave device becomes weaker than the actual force input
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the amplification factor based on the physical state of the moving element. When the moving element is in a bent state, the system increases the amplification factor to compensate for force attenuation, thereby maintaining accurate tactile feedback without requiring changes to the mechanical structure itself
Solution Approach 2:
The system uses feedback by detecting the physical quantity (bending state) of the moving element and using this information to adjust the force amplification in real-time. This closed-loop feedback mechanism ensures that the amplification factor is optimized according to the actual transmission conditions, resolving the contradiction between force magnitude and detection accuracy
2Adaptability or versatility
If flexible members like wires are used in the slave device, then the device can achieve flexibility and movement, but force input in the thrust direction is weakened due to bending of the moving element
Solution Approach 1:
The patent maintains device flexibility by keeping the wire-based moving element while compensating for force loss through dynamic parameter adjustment. The amplification factor is changed based on the bending state detection, allowing the flexible structure to be preserved while correcting the force transmission deficiency
Solution Approach 2:
The control device acts as an intermediary by introducing a computational layer that detects the bending state and applies appropriate amplification. This intermediary processing layer compensates for the mechanical force loss without requiring changes to the flexible wire structure itself
3Force
If the amplification factor is increased to enhance tactile force transmission, then force feedback becomes more perceivable, but the system may become unstable or lose accuracy in non-bending sections
Solution Approach 1:
The patent applies local quality by making the amplification factor spatially and conditionally variable rather than uniform. Different amplification factors are applied based on the local bending state of the moving element, ensuring high force perception where needed while maintaining measurement precision in non-bending sections
Solution Approach 2:
The system uses dynamics by making the amplification factor time-varying and adaptive rather than static. The amplification factor dynamically adjusts according to the real-time bending state detected through physical quantity measurements, allowing the system to optimize between force perception and measurement precision as conditions change
Data Source
AI summary
A control system includes a master device, a slave device, and a control device. Furthermore, the control device includes a tactile force transmission unit and a mode setting unit. The tactile force transmission unit controls tactile force transmission in the master device and the slave device. The mode setting unit changes an amplification factor of force transmitted from the slave device to the master device in a specific section in which a moving element of the slave device moves on the basis of a physical quantity in the moving element of the slave device.