Master-Slave Robot Arm Control With Haptic Feedback
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Solution Overview
Problem
Existing industrial robot technologies struggle to perform compliant box-in-box insertion tasks without pre-programmed motion, as they fail to accurately model contact states due to object deformation, and lack the ability to adjust insertion angles or processes in response to environmental changes.
Innovation Solution
A master-slave robot arm control system and method that enables tele-operation between a master and slave robot arm, incorporating haptic feedback to improve task accuracy. The system uses demonstration learning to collect and analyze movement trajectories, generating an optimized trajectory for the slave robot arm to execute compliant box-in-box insertion tasks effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If industrial robot is used to perform box-in-box insertion task, then speed and accuracy are improved, but ability to handle environmental uncertainty and adjust insertion process deteriorates
Solution Approach 1:
The system implements bidirectional communication between master and slave robot arms through force feedback. The slave robot arm continuously transmits force feedback information to the master robot arm, enabling real-time adjustment of insertion actions based on actual contact conditions with compliant objects. This feedback mechanism allows the robotic system to adapt to environmental uncertainties while maintaining positioning accuracy.
2Productivity
If pre-programmed robot motion is used, then task execution speed is improved, but ability to perform compliant insertion without pre-programming deteriorates
Solution Approach 1:
The slave robot arm autonomously performs compliant box-in-box insertion tasks by independently sensing contact forces and adjusting its motion in real-time. The system enables the robot to serve itself by continuously receiving force feedback from the insertion process and autonomously modifying its insertion trajectory and force application, eliminating the need for pre-programmed motion paths.
3Measurement precision
If force feedback is taken into consideration, then task accuracy in changing environment is improved, but system complexity increases
Solution Approach 1:
The system merges the control functions of master and slave robot arms into a unified tele-operated system. The force feedback mechanism integrates sensing, communication, and control adjustment into a single coordinated process, where the slave robot arm's force sensors continuously monitor contact conditions and transmit this information to the master robot arm for real-time control adjustment, simplifying the overall system architecture while improving accuracy.
Data Source
AI summary
The present disclosure provides a master-slave robot arm control system and method. The control method includes steps of: (a) providing a master and a slave robot arms; (b) executing a robot arm demonstration task, wherein the step (b) includes steps of: (b1) utilizing the slave robot arm to output a force feedback; (b2) generating an action command by operating the master robot arm; (b3) calculating and generating a movement command; (b4) controlling the slave robot arm to move and to generate a movement trajectory and the force feedback correspondingly; (c) repeating the step (b) to collect a plurality of movement trajectories of the slave robot arm; (d) utilizing a statistic module to analyze the plurality of movement trajectories; (e) generating an optimized trajectory of the slave robot arm; and (f) controlling the slave robot arm to execute a robot arm task.