Robot Force-Feedback Control From Real-Time Image and Pose Prediction
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Solution Overview
Problem
Conventional control methods for mobile robots fail to consider force information during motion, leading to safety issues and difficulty in generating accurate control signals due to high-dimensional spatial configurations, especially in contact operation tasks.
Innovation Solution
A method and apparatus for controlling robots that determine a reference motion parameter and control force based on real-time images, predicting a target pose and control force, and determining a target action to imitate and learn kinematic actions and actual contact forces, improving accuracy and robustness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional control methods are used for mobile robots, then the control system is simple, but the robot cannot accurately consider force information during motion leading to safety issues and difficulty in generating accurate control signals
Solution Approach 1:
The patent introduces a force sensor as an intermediary device to measure contact forces between the robot end effector and objects. This mediator provides accurate force information to the control system, enabling precise control signals while maintaining system modularity. The force sensor acts as a bridge between the physical interaction and the control algorithm.
Solution Approach 2:
The patent replaces conventional position-based control with a hybrid control approach that incorporates force feedback. By substituting pure mechanical control with sensor-based force measurement and feedback control, the system achieves higher precision in contact operations while managing complexity through software-based force control algorithms.
2Reliability
If force information is incorporated into control methods, then the accuracy and safety of contact operations improve, but the device complexity increases
Solution Approach 1:
The patent implements force feedback control where force sensors continuously measure contact forces and feed this information back to the control system. This feedback loop enables real-time adjustment of control signals to maintain safe and accurate contact operations. The feedback mechanism improves reliability by continuously monitoring force levels and preventing excessive contact forces.
Solution Approach 2:
The patent performs preliminary calibration of the force sensor and establishes baseline force thresholds before actual contact operations. This preliminary action prepares the control system to handle force information effectively, reducing the complexity burden during actual operation by having pre-configured safety parameters and calibration data ready.
3Measurement precision
If high-dimensional spatial configurations are considered in control methods, then the accuracy of control signals improves, but the difficulty in generating control signals increases
Solution Approach 1:
The patent segments the high-dimensional control problem into manageable components by separately handling position control and force control aspects. The control system processes spatial configuration data and force information in distinct modules, then integrates them to generate comprehensive control signals. This segmentation reduces the difficulty of generating control signals by breaking down the complex computation into smaller, more tractable tasks.
Data Source
AI summary
Embodiments of the disclosure relate to a method and apparatus for controlling a robot, a device, a robot, and a medium. The method for controlling a robot according to the embodiments of the disclosure includes determining, based on a real-time image captured by the robot at a first moment, a reference motion parameter and a reference control force corresponding to the real-time image. The method further includes determining a target pose and a target control force of the robot at a second moment after the first moment according to the reference motion parameter and the reference control force. The method further includes determining a target action of the robot at the second moment according to the target pose and the target control force.