Master-Slave Control with Restraint Force for Collision-Aware Motion
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Solution Overview
Problem
Existing master-slave robot systems fail to accurately support or assist operators in general translational and rotational motions beyond formulated subtasks, leading to potential inaccuracies and safety concerns during tasks like surgery, where unexpected collisions can occur.
Innovation Solution
A control device and method that applies a restraint force to the master-slave system based on the difference between the current position or posture of the master and a reference value, using bilateral or unilateral control methods to ensure accurate operation and prevent unintended movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a master-slave robot system simply reproduces the operator's behavior without additional support, then the system is simple to operate, but the operation accuracy and safety are insufficient during unexpected situations like collisions
Solution Approach 1:
The patent implements a feedback mechanism where the restraint force is calculated based on the difference between the current position/posture and reference value, and this force is fed back to the master device through the force presentation unit. This allows the system to dynamically adjust support levels based on operational needs, improving reliability while maintaining manageable complexity through intelligent control algorithms
Solution Approach 2:
The system changes the parameter of restraint force magnitude dynamically based on the operational context. By adjusting the restraint force parameter according to the difference from reference values and operational requirements, the system provides appropriate support levels for different surgical tasks and unexpected situations without requiring complex structural modifications
2Productivity
If the system provides automated subtask performance, then productivity increases, but the ability to handle arbitrary translational and rotational motions decreases
Solution Approach 1:
The patent implements dynamic control where the restraint force is continuously adjusted based on real-time position and posture differences from reference values. This dynamic adaptation allows the system to provide automated support for routine subtasks while maintaining full flexibility for handling arbitrary translational and rotational motions that may arise during surgery, effectively resolving the contradiction between productivity and adaptability
3Measurement precision
If the restraint force is applied based on position difference from reference value, then the control precision improves, but the system responsiveness to unexpected collisions may be reduced
Solution Approach 1:
The system implements periodic calculation and application of restraint force at each control cycle, continuously monitoring the difference between current and reference positions. This periodic action ensures both high precision through continuous measurement and fast response to collisions by detecting position deviations in real-time, allowing the system to maintain accuracy while responding rapidly to unexpected situations
Data Source
AI summary
A control device and a control method of a master-slave system and the master-slave system are provided. A control device, which controls an operation of a master-slave system, includes a control unit that applies, to a control system of the master-slave system, a restraint force corresponding to an operation in a desired translational or rotational direction by the master. The control unit applies, to the control system, the restraint force according to a difference between a current position or posture of the master and a reference value of a position or posture to be restrained. The control system controls the master-slave system, for example, by a bilateral control method or a unilateral control method.