Master-Slave Arm Control With Force Feedback Range Regulation
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Solution Overview
Problem
Conventional master-slave manipulators fail to maintain a consistent state between the operator's intended slave arm movement and the actual slave arm movement, leading to discrepancies that hinder precise operation.
Innovation Solution
A master-slave system with a control device that includes first and second commanders to regulate the slave unit's operation based on operational information and a regulating condition, ensuring the slave unit's state mirrors the master unit's state by controlling the action part's movement and applying forces to the operation end.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a restraining control is applied to regulate the slave arm movement within a limited work range, then the slave arm operation is controlled and restricted, but the state of the master arm diverges from the state of the slave arm, causing operational inconsistency
Solution Approach 1:
The control device preemptively applies a restraining force to the master arm in the direction opposite to the intended slave arm movement before the operator can execute the command. This preliminary counter-action prevents the master arm state from diverging, maintaining consistency between master and slave arm positions while still enabling regulated operation within the limited work range
Solution Approach 2:
The system dynamically adjusts the restraining force parameter based on the regulating condition and the operator's input force. By changing the magnitude and direction of the restraining force applied to the master arm, the system maintains operational consistency while adapting to different operation scenarios and keeping the slave arm within the limited work range
2Reliability
If the slave arm is restricted to operate within a limited work range, then the operation is regulated and controlled, but the operator cannot operate the slave arm as intended, reducing operational freedom
Solution Approach 1:
The control device applies a preliminary restraining force to the master arm that actively guides the operator's input toward valid operation ranges. Instead of simply blocking movements, the restraining force preemptively counteracts commands that would take the slave arm outside the limited work range, while still allowing full operational flexibility within the permitted range
Solution Approach 2:
The system continuously monitors the slave arm position and feeds back information about the regulating condition to the master arm control. This feedback mechanism allows the operator to understand the current operational state and adjust inputs accordingly, maintaining both regulation and flexibility by making the system's constraints transparent to the operator
Data Source
AI summary
A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.