Primary-Secondary Robot Control for Smooth Posture Synchronization
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Solution Overview
Problem
In existing primary-and-secondary robot systems, when the posture of the primary robot is adjusted to match that of the secondary robot, the rapid change in posture can cause discomfort for the user.
Innovation Solution
A control unit is implemented to limit the acceleration rate of the primary robot's movement to a predetermined rate or lower when synchronizing its posture with that of the secondary robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the posture of the primary robot is rapidly changed to match the secondary robot, then the synchronization speed is improved, but the user comfort deteriorates
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the acceleration rate parameter during posture synchronization. The control unit limits the acceleration rate to a predetermined value or lower when synchronizing the primary robot's posture with the secondary robot, transforming the rapid posture change into a controlled, gradual adjustment that maintains user comfort while achieving synchronization.
2Ease of operation
If the acceleration rate is limited to ensure user comfort, then user comfort is improved, but the posture synchronization time increases
Solution Approach 1:
The patent applies dynamics by making the acceleration rate adjustable and context-dependent. Rather than using a fixed low acceleration rate that would always slow down synchronization, the system dynamically adapts the acceleration rate based on operational conditions, allowing faster synchronization when possible while maintaining comfort limits when necessary.
Data Source
AI summary
Provided is a primary-and-secondary robot system including: a primary robot whose posture is changed by external force applied by a user; a secondary robot whose posture is controlled to be the same as the posture of the primary robot; and a control unit that is configured to control the primary robot and the secondary robot, the control unit causing the posture of the primary robot to be the same as the posture of the secondary robot, and limiting an acceleration rate of a movement of the primary robot to a limited acceleration rate or lower in causing the posture of the primary robot to be the same as the posture of the secondary robot.