Object-Shaped Master Control for Intuitive Remote Robot Handling
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Solution Overview
Problem
Conventional remote control robot systems with master and slave arms provide poor handling feel for operators, making it difficult to intuitively manipulate objects using the slave arm.
Innovation Solution
A remote control robot system where the master device imitates the contour of the object to be handled, allowing the operator to manipulate the master device as if it were the object, causing the slave arm to mimic the behavior of the object, thereby enhancing intuitive operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a master arm or end effector is used as the master device, then the slave arm can be controlled remotely, but the handling feel for the operator is poor
Solution Approach 1:
The master main body is designed to imitate or copy the contour shape of the object to be handled by the slave arm. This allows the operator to manipulate the master device as if directly handling the actual object, providing intuitive tactile feedback and natural handling feel without complex mechanical master arms
2Ease of operation
If the master device imitates the contour of the object, then intuitive operation is improved, but the device complexity increases
Solution Approach 1:
The master main body copies only the essential external contour of the object rather than its full complexity, providing intuitive operation while maintaining design simplicity
Solution Approach 2:
Complex mechanical linkages are replaced with electronic sensors and actuators that detect the position and orientation of the master main body and transmit control signals to the slave arm, reducing mechanical complexity while maintaining control functionality
3Manufacturing precision
If the master main body imitates the shape of the object, then handling precision is improved, but manufacturing complexity increases
Solution Approach 1:
The contour of the object is copied to create the master main body shape, which can be achieved through modern manufacturing techniques like 3D scanning and additive manufacturing, balancing shape fidelity with manufacturing ease
Solution Approach 2:
The manufacturing approach is changed from traditional precision machining to modern techniques such as molding or 3D printing, which can more easily replicate complex contours while simplifying the manufacturing process
Data Source
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AI summary
A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.