Multi-Arm Robot Control for End-Effector Relationship Maintenance

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional remotely controlled robots with multiple multi-degree-of-freedom arms face increased operator burden and skill dependence due to the difficulty in maintaining the relative relationship between their hands, affecting task accomplishment and performance.

Innovation Solution

An operation control device that includes an acquisition unit, a relative relationship maintenance instruction unit, and a control command generation unit to maintain a constant relative relationship between end effectors, using inverse kinematics and constraints to correct target positions and calculate joint angles, reducing operator burden and skill dependence.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an operator directly commands hand position of multiple multi-degree-of-freedom arms, then the robot can perform complex tasks, but the operator burden increases and skill dependence increases

Engineering Contradiction:

Improvetask performance capabilityVSAvoidoperator burden

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent introduces an automatic operation generation unit that acts as an intermediary between the operator and the robot arms. This unit automatically generates operation instructions based on object information and task requirements, eliminating the need for the operator to directly control complex multi-degree-of-freedom arm positions while maintaining task performance capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The robot system performs self-control through the automatic operation generation unit, which autonomously determines operation instructions based on detected object information and predefined task parameters. This self-service mechanism reduces operator burden while maintaining adaptability for complex tasks

Inventive Principle:

Principle #25Self-service

2Adaptability or versatility

If an operator directly commands hand position of multiple multi-degree-of-freedom arms, then the robot can perform complex tasks, but dependence on operator skill increases

Engineering Contradiction:

Improvetask performance capabilityVSAvoidskill dependence

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The automatic operation generation unit serves as a mediator that translates object information and task parameters into precise operation instructions, reducing dependence on operator skill while maintaining the ability to perform complex tasks with multiple arms

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces manual operator control with an automated control system that uses object detection information and algorithmic processing to generate operation instructions, thereby reducing skill dependence while maintaining task adaptability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If the operator maintains relative relationship between both hands, then double-arm work can be performed, but the operator burden increases

Engineering Contradiction:

Improvedouble-arm work capabilityVSAvoidoperator burden

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The automatic operation generation unit autonomously maintains the relative relationship between multiple end effectors by generating coordinated operation instructions based on object information, enabling double-arm work without increasing operator burden

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The automatic operation generation unit acts as an intermediary that automatically manages the coordination and relative positioning of multiple arms, freeing the operator from the burden of manually maintaining hand relationships while preserving double-arm work capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS12629840B2Operation control device, operation control system, operation control method, and storage medium

Publication Date: 2026.05.19 HONDA MOTOR CO LTD

AI summary

An operation control device that controls an operation of a robot having a plurality of arms and end effectors connected to each of the arms includes an acquisition unit configured to acquire an operation instruction including a target position of the end effector from an operator, a relative relationship maintenance instruction unit configured to issue an instruction to keep a relative relationship between the end effectors constant, a control command generation unit configured to correct a target position of the end effector to maintain a relative relationship between the end effectors in response to the operation instruction acquired according to an instruction from the relative relationship maintenance instruction unit, and to calculate a joint angle target of the arm based on the corrected target position of the end effector.