Robot Remote Gripping Control Using Motion Intention Estimation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot operation systems face challenges in accurately controlling 6-degrees-of-freedom hand tip targets in a three-dimensional space, particularly for users lacking expertise, leading to reduced work efficiency and accuracy due to the trade-off between followability, flexibility, and stability in inverse kinematics calculations, and communication delays causing operator discomfort.
Innovation Solution
A robot remote operation control system that includes an information acquisition unit, an intention estimation unit, and a gripping method determination unit to estimate an operator's motion intention based on line-of-sight, arm movement, and environmental sensors, allowing for accurate gripping and control of robot movements without requiring precise positioning by the operator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inverse kinematics calculation is used to control robot arm joints based on target posture, then the robot can achieve precise 6-degrees-of-freedom hand tip positioning, but the system becomes complex and difficult for non-expert users to operate accurately
Solution Approach 1:
The patent introduces an intermediary system that includes a camera mounted on the robot hand and a display device showing the camera's field of view. This intermediary visual feedback system mediates between the operator's simple directional inputs and the complex robot positioning requirements, allowing non-expert users to achieve precise hand tip positioning without understanding inverse kinematics calculations.
Solution Approach 2:
The patent implements visual feedback by displaying the camera image from the robot hand on a display device. This feedback loop allows operators to see the robot hand's position and orientation in real-time, enabling them to make simple directional adjustments without needing to understand the complex underlying kinematics, thus improving ease of operation while maintaining positioning accuracy.
2Speed
If the robot system accurately tracks and responds to operator motion in real-time, then followability improves, but communication delays cause operator discomfort and reduce stability
Solution Approach 1:
The patent calculates and displays the camera's field of view information in advance based on the current robot hand posture, so that when the operator makes directional adjustments, the visual feedback is already prepared and immediately available. This preliminary preparation reduces perceived delay and maintains operator comfort while enabling fast response.
3Adaptability or versatility
If the system provides full 6-degrees-of-freedom control freedom, then flexibility is maximized, but the complexity of controlling position and orientation independently increases device complexity
Solution Approach 1:
The patent segments the control task into two independent parts: (1) position control through simple directional inputs, and (2) orientation control through the displayed camera field of view information. This segmentation allows operators to control position and orientation separately using simple operations, maintaining full 6-DOF flexibility while reducing control system complexity.
Data Source
AI summary
A robot remote operation control device includes, in robot remote operation control for an operator to remotely operate a robot capable of gripping an object, an information acquisition unit that acquires operator state information on a state of the operator who operates the robot, an intention estimation unit that estimates a motion intention of the operator who causes the robot to perform a motion, on the basis of the operator state information, and a gripping method determination unit that determines a gripping method for the object on the basis of the estimated motion intention of the operator.