Object-Shaped Master Control for Intuitive Remote Robot Handling
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Solution Overview
Problem
Conventional remote control robot systems with master devices 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 shape of the object to be handled, allowing operators to manipulate the slave arm by mimicking the behavior of the object, with a control device that synchronizes the slave arm's actions based on the master device's position and posture.
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 to follow the master device posture, but the handling feel for the operator is poor
Solution Approach 1:
The master main body is designed to imitate or copy the shape and appearance of the object to be handled by the slave arm. This allows the operator to manipulate the master device with natural hand movements and gestures, improving handling feel and intuitiveness without requiring complex mechanical master arms
2Ease of operation
If the master device imitates the shape of the object, then the operator can instinctively manipulate the slave arm, but the master device structure becomes more complex
Solution Approach 1:
The master main body copies only the essential external shape and appearance of the object, not its internal structure or complexity. This allows instinctive manipulation while keeping the device structure relatively simple
Solution Approach 2:
Complex mechanical linkages are replaced with electronic sensors and control systems that detect the position and posture of the master main body and transmit this information to control the slave arm, simplifying the mechanical structure while maintaining operational intuitiveness
3Manufacturing precision
If the master main body imitates the contour 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 improves handling precision by allowing natural manipulation. Modern manufacturing techniques like 3D scanning and additive manufacturing make this copying process relatively simple and cost-effective
Solution Approach 2:
The manufacturing approach is changed from traditional complex mechanical fabrication to modern techniques such as molding or 3D printing, which can easily replicate complex contours and shapes while simplifying the manufacturing process
Data Source
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.