Master Slave Robot Force Feedback Correction
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Solution Overview
Problem
Master slave robots face inefficiencies in task performance due to discrepancies between the perceived force on a screen and the actual force applied, particularly when the magnification percentage or features of the target object change, leading to inaccurate and inefficient task execution.
Innovation Solution
A control apparatus for master slave robots that includes a force information acquiring unit, a target object information calculation unit, a force information correcting unit, and a force information presentation unit, which corrects force information based on the target object's color depth, material, and assembling workload to ensure accurate and efficient task performance by matching the presented force with the perceived force on the screen.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If the magnification percentage of the motion picture is increased to provide a larger view of the target object, then the operator can see more details of the target object, but the perceived force on the screen becomes inconsistent with the actual force applied, leading to inaccurate task execution
Solution Approach 1:
The system dynamically adjusts force feedback parameters based on the magnification percentage displayed on the screen. When magnification changes, the force feedback gain is modified to compensate for the visual distortion, ensuring that the operator perceives accurate force information regardless of the display magnification level. This resolves the contradiction by making the force feedback parameter adaptive to the visual parameter.
2Ease of operation
If the motion picture display is changed to show different views or magnifications of the target object, then the operator can better observe the target object, but the presented force does not match the perceived force on the screen, reducing work efficiency
Solution Approach 1:
The system implements a closed-loop feedback mechanism where the force feedback is continuously adjusted based on the current display magnification and target object characteristics. The force information is corrected in real-time to match the visual information presented to the operator, creating a consistent sensory experience that improves both ease of operation and productivity.
Solution Approach 2:
The force feedback parameters are dynamically modified according to the display parameters and target object properties. This adaptive parameter adjustment ensures that the force information remains accurate and meaningful across different viewing conditions, maintaining high work efficiency while providing flexible observation capabilities.
3Device complexity
If the force feedback is presented without correction based on target object properties, then the system structure remains simple, but the operator cannot accurately perceive the actual force required for the assembly task
Solution Approach 1:
The system introduces correction parameters based on target object properties such as material, shape, and assembly requirements. These parameters are used to adjust the force feedback magnitude and characteristics, enabling accurate force perception without requiring a completely complex system architecture. The correction is implemented through parameter modification rather than fundamental system redesign.
Data Source
AI summary
A control apparatus for a master slave robot causes a force information correcting unit to correct force information in accordance with a feature of a target object on a screen from target object information calculated by a target object information calculation unit. An operator can thus apply appropriate force while watching a picture projected on a display to perform a task.