Master-Slave Robot Posture Matching via Sequential Axis Grouping
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Solution Overview
Problem
In master-slave robot systems, sudden changes in the master robot's posture due to operator manual operations make it difficult for the operator to predict the motion trajectory of the master robot during posture matching with the slave robot, especially when initial misalignments or differences in robot types occur.
Innovation Solution
The system divides the axes of the master robot into groups and drives them sequentially to match the posture of the slave robot, allowing for step-by-step adjustment and improved predictability of the motion trajectory, with options for starting from axes with smaller or larger rotational differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the posture of the master robot is matched to the posture of the slave robot by driving all axes simultaneously, then the posture matching is completed quickly, but the operator cannot predict the motion trajectory due to sudden changes
Solution Approach 1:
The patent divides the robot axes into multiple groups (first group, second group, etc.) and drives them sequentially rather than simultaneously. This segmentation of the driving process allows the posture matching to proceed in controlled stages, making the motion trajectory predictable while still achieving efficient matching.
Solution Approach 2:
The patent dynamically adjusts the driving sequence based on the current posture difference between master and slave robots. The controller determines which axis group to drive next based on real-time comparison, creating a dynamic adaptation process that maintains predictability while achieving quick convergence.
2Ease of operation
If the posture matching is performed by driving axes in sequence, then the motion trajectory becomes predictable, but the posture matching process takes longer time
Solution Approach 1:
By segmenting axes into multiple groups that can be driven in sequence, the patent achieves predictable motion while reducing total matching time compared to driving all axes one by one.
Solution Approach 2:
The patent drives axis groups based on the current posture difference requirements. Not all axis groups need to be driven to the same extent - some may require larger adjustments while others need minimal changes, allowing optimized partial action that reduces overall time.
3Adaptability or versatility
If the master robot posture changes suddenly during manual operation, then the operator can quickly adjust to new positions, but it becomes difficult to predict the subsequent motion trajectory
Solution Approach 1:
The system dynamically determines the driving sequence based on the current posture difference between master and slave robots. When the operator makes sudden adjustments, the controller adapts by identifying which axis groups have the largest differences and prioritizing their driving, maintaining predictability while accommodating flexible manual operation.
Solution Approach 2:
The controller continuously monitors the posture difference between master and slave robots and uses this feedback to determine the next axis group to drive. This closed-loop feedback mechanism ensures that even when sudden posture changes occur during manual operation, the subsequent motion trajectory remains predictable as it is systematically determined by the current state.
Data Source
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AI summary
In a master-slave robot system (10), the posture of a master robot (20) is changed by an external force applied by the operator, while the posture of a slave robot (30) is controlled to match that of the master robot. A controller (26, 36) controls the master robot (20) and the slave robot (30). The master and slave robot (20, 30) each have a plurality of links (22a - 22f) and a plurality of axes (J1 - J6) i.e., joints (JT1 - JT6) each connecting adjacent links to form a robot arm. Each axis (J1 - J6) is connected to both ends of the two adjacent links to allow the two links to rotate relatively to each other. The controller (26, 36) eliminates a spatial mismatch between the master and slave robot's postures. In control for the posture matching operation, all the multiple axes (J1 - J6) of the master robot (20) are divided, in control for the posture matching operation, into multiple groups, and the axes (J1 - J6) are driven group by group in a sequence, thereby enabling the posture of the master robot (20) to match the posture of the slave robot (30).