Master-Slave Robot Force Correction Apparatus
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Solution Overview
Problem
Current master-slave robot teaching methods are inefficient for tasks involving flexible materials, as they either require excessive force, leading to material damage or fail to provide clear feedback on force magnitude, making tasks like inserting a flexible board difficult and time-consuming.
Innovation Solution
A control apparatus for a master-slave robot that acquires and corrects force information in real-time, allowing for precise transmission of force feedback to the operator, enabling them to perform tasks with optimal force levels without damaging the object, even when components or procedures change.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If force feedback is transmitted physically from slave to master manipulator, then the operator can sense the force applied to the object, but the force magnitude cannot be adjusted, making tasks difficult when force needs to be optimized
Solution Approach 1:
The patent introduces a control apparatus as an intermediary between the slave manipulator and master manipulator. This intermediary acquires force information from the slave manipulator, corrects it according to predetermined correction information, and transmits the corrected force information to the master manipulator. This allows force magnitude adjustment without direct physical coupling, resolving the contradiction between force sensing and force magnitude adaptability.
Solution Approach 2:
The patent replaces the direct mechanical force feedback system with an information-based transmission system. Instead of physically transmitting force from slave to master manipulator, the system acquires force information, corrects it through a control apparatus, and transmits the corrected information. This substitution enables flexible force magnitude adjustment while maintaining force sensing capability.
2Device complexity
If teaching is performed by directly touching the robot, then the number of teaching steps is reduced, but the task time becomes very long when force magnitude cannot be adjusted
Solution Approach 1:
The patent applies preliminary action by pre-storing correction information that defines the relationship between master and slave manipulator forces. This correction information is prepared in advance and stored in the control apparatus, allowing rapid force magnitude adjustment during task execution without requiring re-teaching or complex adjustments, thus reducing task time while maintaining simple teaching procedures.
3Device complexity
If force information is not corrected, then the transmission is simple, but the operator cannot clearly know whether force is strong or weak during the task
Solution Approach 1:
The patent implements feedback by acquiring force information from the slave manipulator, correcting it based on predetermined correction information, and transmitting the corrected force information to the master manipulator. This feedback loop ensures that the operator receives clear and accurate force magnitude information, enabling them to clearly know whether the applied force is strong or weak during the task.
Data Source
AI summary
A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.