Master-Slave Manipulator Segmented Control for Redundant Joints
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Solution Overview
Problem
Current master-slave manipulator systems face challenges in efficiently controlling slave manipulators with multiple degrees of freedom, particularly in surgical applications, where redundant joints complicate the inverse kinematic computations and require complex control strategies to accurately position and orient the end effector.
Innovation Solution
A master-slave manipulator system is designed with a master operation input device that includes a first operation unit for outputting position and orientation, and a second operation unit for independent joint control, along with a control unit that calculates and generates joint driving command values based on input commands, allowing for precise control of slave manipulators with or without redundant joints by simplifying kinematic computations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a slave manipulator with redundant degrees of freedom is used, then the manipulator's versatility and adaptability are improved, but the control complexity and computational burden increase
Solution Approach 1:
The master operation input device is segmented into two independent operation units: a first operation unit for controlling position and orientation, and a second operation unit for independently controlling joint values. This segmentation allows the complex control of redundant-degree-of-freedom manipulators to be divided into manageable independent control tasks, reducing overall control complexity while maintaining versatility
Solution Approach 2:
The control unit acts as an intermediary that receives commands from both operation units and synthesizes them into coordinated joint driving commands. It calculates the driving amounts for each joint by integrating the position/orientation commands from the first operation unit with the independent joint commands from the second operation unit, thereby managing the complexity of controlling redundant degrees of freedom
2Measurement precision
If independent joint control is added to the master operation device, then the precision of joint positioning is improved, but the device complexity increases
Solution Approach 1:
The control unit merges the control functions of both operation units into a unified control system. It integrates the position/orientation control from the first operation unit with the independent joint control from the second operation unit, synthesizing them into coordinated joint driving commands. This merging approach achieves precise joint positioning without requiring separate complex control systems for each function
Data Source
AI summary
A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.