Remote Robot Posture Alignment Before Motion Synchronization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Operators using remote control systems experience discomfort due to discrepancies in sensations when starting synchronization between their own motions and those of the slave robot, particularly in line-of-sight direction and hand position, leading to potential discomfort and disorientation.
Innovation Solution
A remote control system that includes a slave robot, a capture device, and a control apparatus capable of receiving and comparing posture signals from both the operator and the slave robot, transmitting operation signals only when the posture error is within a predetermined threshold, using guide videos and audio guidance to align the operator's posture with the slave robot's, thereby reducing synchronization discrepancies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If synchronization between operator motion and slave robot motion is started immediately, then responsiveness and operational efficiency are improved, but sensation discrepancy and operator discomfort increase
Solution Approach 1:
The system performs preliminary actions by having the slave robot move to a predetermined position and adjust its posture before synchronization starts. The capture device also performs preliminary capture of the operator's posture. This preparation reduces sensation discrepancy when synchronization begins, while maintaining operational efficiency.
Solution Approach 2:
The system changes the parameter of slave robot position to a predetermined position before synchronization. This parameter adjustment ensures that the slave robot is in the correct state to minimize sensation discrepancy, allowing synchronization to start smoothly without compromising responsiveness.
2Measurement precision
If the slave robot moves to match the operator's posture immediately, then synchronization accuracy is improved, but system complexity and control difficulty increase
Solution Approach 1:
The system performs preliminary posture capture of the operator and preliminary positioning of the slave robot before synchronization begins. This staged approach achieves accurate posture matching without requiring complex real-time control algorithms, thereby reducing control system complexity while maintaining synchronization accuracy.
Solution Approach 2:
The synchronization process is segmented into distinct phases: preliminary posture capture, predetermined position movement, and then synchronization start. This segmentation simplifies the control logic by breaking down the complex task of posture matching into manageable steps, reducing overall system complexity.
3Ease of operation
If posture alignment is performed before synchronization, then operator comfort is improved, but operational time and response delay increase
Solution Approach 1:
Posture alignment is performed as a preliminary action before synchronization starts. The slave robot moves to a predetermined position and captures the operator's posture in advance. This ensures operator comfort during synchronization while minimizing the time penalty by completing alignment tasks before the operational phase begins.
Solution Approach 2:
The system rushes through the posture alignment phase by moving the slave robot to a predetermined position and performing rapid posture capture before synchronization. This minimizes the time spent on alignment while ensuring operator comfort is achieved, thereby reducing operational time loss.
Data Source
AI summary
A slave robot moves in conjunction with a change of a posture of an operator in a remote control system. A capture device acquires a signal indicating a posture of an operator's body. A control apparatus includes a receiving controller that receives a signal indicating a posture of the slave robot from the slave robot and receives the signal indicating the posture of the operator's body from the capture device, a posture comparing part that acquires a posture error indicating a difference between the posture of the slave robot and the posture of the operator, and a motion connecting part that transmits, to the slave robot, an operation signal for operating the slave robot generated on the basis of the change in the posture of the operator on a condition that the posture error is within a predetermined threshold range.