Master-Slave Robot Motion Planning for Motor Acceleration Limits
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Solution Overview
Problem
Existing control methods for master-slave-manipulator robots often result in rotational accelerations for slave-manipulator motors exceeding their maximal acceleration, leading to error warnings and inaccurate following of the master manipulator, or affecting the motor's lifespan.
Innovation Solution
A control method and device that acquires mapped positions and starting motion parameters for slave-manipulator motors, plans motion trajectories based on these parameters, and determines target distances within the motor's maximal planning distance to prevent excessive acceleration and ensure accurate motion tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct mapping from master manipulator coordinates to slave manipulator motor positions is used, then the slave manipulator can faithfully reflect the operator's hand motion, but the rotational acceleration of the slave-manipulator motor may exceed its maximal acceleration
Solution Approach 1:
The patent performs motion trajectory planning in advance before executing the mapping from master manipulator to slave manipulator. By pre-calculating the motion path and determining appropriate acceleration profiles, the system ensures that the slave manipulator motors operate within their acceleration limits while still achieving accurate motion tracking. This preliminary planning prevents excessive acceleration before it occurs.
Solution Approach 2:
The patent dynamically adjusts the motion parameters of the slave manipulator based on real-time conditions. The motion trajectory planning continuously adapts the acceleration and velocity profiles to match both the desired motion accuracy and the motor's acceleration capabilities, allowing the system to maintain optimal performance under varying operational conditions.
2Speed
If direct mapping is used to achieve fast response, then the slave manipulator follows the master manipulator closely, but error warnings occur and motor life is affected
Solution Approach 1:
By performing motion trajectory planning before execution, the system pre-determines safe acceleration and velocity profiles that respect motor limits. This preliminary action allows the slave manipulator to respond quickly to master manipulator movements while preventing error warnings and protecting motor life through pre-calculated safe operating parameters.
Solution Approach 2:
The system incorporates feedback mechanisms that monitor the actual motion parameters of the slave manipulator motors. This feedback allows real-time adjustments to ensure that acceleration and velocity remain within safe limits, preventing error warnings and motor damage while maintaining fast response performance.
Data Source
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AI summary
Embodiments of the present application provide a control method and device of a master-slave-manipulator robot. The method includes: after acquiring a mapped position and a starting motion parameter of the slave-manipulator motor for the current cycle, performing planning on a motion trajectory of the slave-manipulator motor for the current cycle and acquiring a maximum planning distance, and finally determining a value that may be prioritized among the mapped motion distance and the maximum planning distance as an actual distance that the slave-manipulator motor needs to move for the current cycle. In this way, it is possible to avoid the problem of an error warning of the motor due to exceeding of a limit of the slave-manipulator motor caused by the master manipulator being directly mapped to the slave-manipulator motor, so that an excessive acceleration and velocity during motion of the master manipulator motion may be decreased to an acceptable level of the slave-manipulator motor while it is ensured that the overall trajectory remains substantially unchanged, thus prolonging a service life of the slave-manipulator motor.