Master Slave Robot Force Feedback Control for Magnification
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Solution Overview
Problem
Master slave robots face inefficiencies in task performance due to changes in magnification percentage, as operators apply excessive force when viewing enlarged images, leading to inaccurate task execution.
Innovation Solution
A control apparatus for master slave robots that includes a force information acquiring unit, a displayed information acquiring unit, a force information correcting unit, and a force information presentation unit, which corrects force information based on magnification percentage to match the perceived image, ensuring accurate and efficient task performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnification percentage of the motion picture is increased, then the operator can observe the assembly task in greater detail, but the operator applies excessive force to the master arm leading to inaccurate task execution
Solution Approach 1:
The system dynamically changes the force feedback parameter based on the magnification percentage. When magnification increases, the force feedback gain is reduced proportionally to compensate for the operator's tendency to apply excessive force. This parameter adaptation resolves the contradiction by maintaining task execution precision across different observation magnifications.
Solution Approach 2:
The system implements a feedback mechanism where the force applied by the operator is detected and fed back to adjust the slave arm's motion. The force feedback is corrected based on magnification percentage, creating a closed-loop control system that compensates for operator perception errors and maintains accurate task execution regardless of magnification level.
2Ease of operation
If magnification percentage is changed to improve task observation, then the operator's visual perception changes, but the force feedback remains unchanged causing inefficiency
Solution Approach 1:
The force feedback system transitions from a static gain to a dynamic gain that automatically adjusts with magnification changes. This dynamic adaptation allows the system to maintain optimal force feedback characteristics across varying magnification levels, improving both ease of operation and productivity by eliminating the need for manual recalibration.
Solution Approach 2:
The system changes the force feedback parameter (gain) in response to magnification percentage changes. This parameter adaptation ensures that the force feedback remains appropriate for the current viewing condition, maintaining task performance efficiency while allowing flexible observation magnification.
3Speed
If the operator applies more force to achieve better control when viewing enlarged images, then the master arm response seems more responsive, but the slave arm receives excessive force commands
Solution Approach 1:
The control system acts as an intermediary between the master arm and slave arm, mediating the force transmission. When magnification is increased, the intermediary reduces the force feedback gain to prevent excessive force commands from reaching the slave arm, while still maintaining responsive control through adjusted feedback scaling.
Data Source
AI summary
A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.