Master-Slave Friction Compensation via Velocity-Averaged Tactile Feedback
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Solution Overview
Problem
In master-slave systems, simply compensating for frictional forces makes it difficult for users to perceive state changes in the slave device through the master device, often leading to unnecessary movements.
Innovation Solution
A control system that calculates a force to assist operations in the master device based on the moving average velocity of the slave device's movable portions, enhancing friction compensation by transmitting tactile forces between the master and slave devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-generated harmful factors
If frictional force compensation is performed to simply eliminate friction in the slave device, then the friction force is reduced, but the user cannot perceive state changes of the slave device through the master device and unnecessary movements occur
Solution Approach 1:
The patent changes the parameter of friction compensation from complete elimination to partial compensation by introducing a velocity-dependent compensation model. The friction compensation force is calculated based on the moving average of slave device velocity, allowing the system to adaptively adjust compensation levels to maintain both reduced friction and preserved tactile feedback for state change perception.
2Ease of operation
If friction compensation is increased to eliminate all friction, then operational smoothness is improved, but tactile feedback for state changes is lost and unnecessary movements increase
Solution Approach 1:
The patent applies dynamics by making the friction compensation force variable rather than constant. The compensation force dynamically adjusts based on the slave device's velocity characteristics, using a moving average model to provide smoother operation during normal movement while maintaining sufficient resistance to prevent unnecessary movements during idle or uncertain states.
Data Source
AI summary
An object of the present invention is to make control for friction compensation executed in a master-slave system more appropriate. A control system includes a master device, a slave device, and a control device. Furthermore, the control device includes a friction compensation control unit and a tactile force transmission unit. The friction compensation control unit calculates a force for assisting an operation in the master device with respect to friction generated in the slave device on the basis of a moving average of velocity of a movable portion in the slave device. The tactile force transmission unit assists the operation in the master device with a force calculated by the friction compensation control unit and controls tactile force transmission in the master device and the slave device.