Master-Slave Manipulator Control via Structural Copying
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Solution Overview
Problem
Existing master-slave manipulator systems with slave arms having seven or more degrees of freedom require complex inverse-kinematic computations for joint driving, which can lead to non-intuitive operation and reduced operability, especially when inputting command values for redundant degrees of freedom.
Innovation Solution
A master operation input device with a grip portion that can be moved in three orthogonal axes and equipped with joints that mirror the structure of the slave arm's joints, allowing direct and intuitive control of the slave arm's movements through position sensors, enabling direct command input for seven degrees of freedom, including a redundant rolling joint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex inverse-kinematic computation is used to control slave arm with seven or more degrees of freedom, then the slave arm can be precisely controlled, but the operation becomes non-intuitive and operability is reduced
Solution Approach 1:
The master arm is designed with the same seven-degree-of-freedom structure as the slave arm, creating a structural copy. This allows the operator to control the slave arm through direct physical manipulation of the master arm, which mirrors the slave arm's configuration, making the operation intuitive while maintaining precise control through the structural correspondence between master and slave systems.
Solution Approach 2:
The patent replaces complex computational control systems with a mechanical coupling system. The master arm's movements are mechanically transmitted to the slave arm through a control system that directly maps master arm joint movements to slave arm joint movements, eliminating the need for complex inverse-kinematic computations while maintaining control precision.
2Ease of operation
If additional operation units such as switches or dials are added to input command values for six degrees of freedom, then seven degrees of freedom can be controlled with one hand, but the device complexity increases
Solution Approach 1:
The patent merges the control of all seven degrees of freedom into a single integrated master arm structure. The master arm combines positional control (three degrees of freedom) and orientational control (three degrees of freedom) plus redundant degree of freedom control into one unified device that can be operated with one hand, eliminating the need for separate switches or dials.
Solution Approach 2:
The master arm is designed as a universal control device that performs multiple functions: it controls position (x, y, z coordinates), orientation (roll, pitch, yaw angles), and the redundant degree of freedom. This multi-functional master arm replaces what would otherwise require multiple separate operation units, reducing overall device complexity while maintaining full control capability.
Data Source
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AI summary
A master operation input device (10) for operating a slave manipulator provided with joints adapted to multiple degrees of freedom includes a grip portion (101) and a first operation portion (102). The grip portion (101) is variable in position and orientation while being gripped by an operator. The grip portion (101) is configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation. The distal end is the farthest end when the slave manipulator is viewed from a fixed end thereof. The first operation portion (102) is located to be operable by a fingertip of the operator when the grip portion (101) is gripped. The first operation portion is operable independently of the grip portion (101).