Master-Slave Manipulator Virtual Coordinate Control
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Solution Overview
Problem
Conventional master-slave manipulator systems face challenges in intuitive operation due to complex coordinate systems and limited flexibility in arranging the monitor and operation input device, especially when the orientation of the manipulator differs from the operation input device, leading to difficulties in controlling the manipulator's position and orientation.
Innovation Solution
A master-slave manipulator system with a master controller that separates operation reference data into position and orientation components, using a moving direction compensation controller to adjust position movement commands based on the manipulator's orientation, allowing for intuitive operation with a double arm type operation input device and a three-dimensional endoscope camera, enabling six degrees of freedom control without limiting the layout of the monitor and operation input device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the orientation of the manipulator is made different from the operation input device to match the working area, then the manipulator can operate in the actual working area orientation, but the operator finds it hard to understand the correspondence between commanding direction and manipulator orientation
Solution Approach 1:
The patent introduces a virtual coordinate system as an intermediary that bridges the operation input device and the manipulator. The virtual coordinate system is defined based on the manipulator's current orientation and position, allowing the operation input device to operate in a familiar coordinate system while the manipulator operates in its actual working orientation. This mediator transforms commands from the operator's coordinate system to the manipulator's coordinate system, resolving the contradiction between adaptability and ease of operation.
Solution Approach 2:
The patent adds a virtual dimension layer between the physical operation input device and the physical manipulator. By creating a virtual coordinate system that exists in the same spatial dimension as the operation input device but maps to the manipulator's different physical orientation, the system allows operators to maintain intuitive control while the manipulator adapts to various working area orientations.
2Ease of operation
If the monitor and operation input device are arranged in specific positions to align with the manipulator orientation, then the operation becomes more intuitive, but the system layout flexibility is reduced and the apparatus size increases
Solution Approach 1:
The patent replaces the mechanical solution of physically aligning the monitor and operation input device with the manipulator orientation by using a virtual coordinate system. Instead of mechanically positioning components to match manipulator orientation, the system uses software-based coordinate transformation to achieve the same effect, thereby eliminating layout constraints and reducing apparatus complexity.
Solution Approach 2:
The virtual coordinate system provides a universal interface that works regardless of the manipulator's physical orientation or the monitor's physical position. This multi-functional approach allows the same operation input device to control the manipulator in any orientation without requiring physical reconfiguration, making the system universally applicable to different layouts.
3Adaptability or versatility
If multiple operation input devices are prepared to correspond to all orientations of multiple manipulators, then each manipulator can be operated intuitively, but the apparatus is enlarged in size and operation becomes harder
Solution Approach 1:
The patent creates a universal operation input device that can control multiple manipulators of different orientations through the virtual coordinate system. The virtual coordinate system automatically adapts to each manipulator's orientation, allowing a single operation input device to function with multiple manipulators, thereby eliminating the need for multiple specialized devices and reducing system complexity.
Solution Approach 2:
The virtual coordinate system dynamically adapts to the orientation of whichever manipulator is currently being controlled. This dynamic reconfiguration allows the same operation input device to work with manipulators in different orientations without requiring physical or functional changes to the device itself, enabling one device to serve multiple purposes.
Data Source
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AI summary
In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system (1) is provided with a manipulator (134), a camera (146), a monitor (152), an operation input device (100), a manipulator controller (122) and a master controller (104). The master controller (122) is provided with an operation an information acquisition portion (106) for operation command acquiring an operation reference data on the basis of the command by the operation input device (100), an acquirement information division portion (110) dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller (116) compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information. The manipulator controller controls (122) the position and orientation of the manipulator (134) on the basis of the position moving command compensation information and the orientation reference data.