Robot End Effector Surface Mapping for Precise Remote Operation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot systems face difficulties in remote operation due to the lack of sensory feedback, making it challenging for users to accurately control slave robots, particularly in terms of operability when performing tasks that require precise movement and interaction with objects.
Innovation Solution
A robot system that includes a master for user operation, a slave with an effector that acts on an object, and a controller that performs coordinate conversion to adapt the operation coordinate system to the object's surface, allowing the effector to move accordingly based on user input, thereby enhancing operability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If coordinate conversion is performed to adapt reference surface to object surface, then operability is improved, but device complexity increases
Solution Approach 1:
The patent performs preliminary coordinate conversion by pre-defining the reference surface and establishing the transformation relationship between the reference surface coordinate system and the object surface coordinate system before actual manipulation. This preliminary setup allows the slave robot to automatically adapt to the object's surface geometry, improving operability while the complexity is confined to the initial configuration phase rather than real-time control
Data Source
AI summary
A robot system 100 includes an operator 2 to be operated by a user, a robot 1 having an end effector 11 that acts on an object W and a robot arm 12 that moves the end effector 11, and a controller 3 that outputs a command for the robot arm 12 such that the end effector 11 moves according to operation information input via the operator 2. The controller 3 performs coordinate conversion to adapt a reference surface RP in an operation coordinate system set for the operator 2 to the surface of the object W, and generates the command for the robot arm 12 based on the operation information.