Master-Slave Robot Control Using Virtual Object Modeling
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Solution Overview
Problem
Conventional robot control technologies using master-slave systems struggle with insufficient reproducibility and operability in handling indeterminate environmental elements, such as position and object variance, making suitable physical interaction difficult.
Innovation Solution
A control system comprising a first device for input operation, a second device for action, and a control device that acquires data of physical quantities from both devices, hypothesizing a virtual object to calculate command values for the devices to follow its behavior, enhancing reproducibility and operability through velocity or position control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional master-slave control technology is used, then robot can perform basic operations, but reproducibility and operability are insufficient when handling indeterminate environmental elements
Solution Approach 1:
The patent introduces a virtual object as an intermediary between the master and slave devices. This virtual object serves as a mediator that combines the characteristics of both devices, allowing the slave device to reproduce the behavior of the master device while handling indeterminate environmental elements. The virtual object acts as a computational model that bridges the gap between master input and slave execution, improving reproducibility without significantly increasing physical system complexity.
Solution Approach 2:
The patent changes the control parameters by introducing virtual physical quantities (such as virtual position, virtual velocity, virtual acceleration) that represent the combined behavior of master and slave devices. By operating in this virtual parameter space rather than directly controlling physical device parameters, the system achieves better adaptability and reproducibility when dealing with uncertain environmental conditions.
2Ease of operation
If reactive force transfer is implemented from slave to master, then physical interaction realism improves, but control system complexity increases
Solution Approach 1:
The patent replaces direct mechanical coupling between master and slave with a computational model (virtual object). Instead of physically transferring reactive forces through mechanical connections, the system uses virtual physical quantities to represent and transfer interaction characteristics. This substitution reduces the need for complex mechanical force transfer mechanisms while maintaining the realism of physical interaction through computational modeling.
3Manufacturing precision
If virtual object hypothesis is used to calculate command values, then control precision improves, but data processing requirements increase
Solution Approach 1:
The patent creates a virtual copy (virtual object) of the master-slave system that contains the essential behavioral characteristics. Instead of transmitting all raw sensor data and control signals between devices, the system transmits virtual physical quantities that represent the combined state of the master-slave system. This copying approach maintains control precision by preserving the essential dynamics while reducing data transmission requirements.
Data Source
AI summary
A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.