Teleactuation Actuator Control for Stable Force Transparency
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing actuator systems in teleactuation face instability and impaired system transparency due to latency-induced sudden drops in force or excessive damping, particularly during changes in energy flow direction, such as during contact with environments.
Innovation Solution
An actuator system with a controller that measures and reflects a predefined portion of target energy back to the first actuator, allowing for adaptive damping and maintaining system stability and transparency by adjusting energy distribution based on environmental conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a passivity controller is used to maintain system stability by damping energy, then system stability is improved, but system transparency deteriorates due to excessive damping and sudden force drops during energy flow direction changes
Solution Approach 1:
The controller performs preliminary action by reflecting a predefined portion of target energy back to the first actuator before the energy flow direction change occurs. This advance energy reflection ensures that energy is available earlier on the first actuator side, preventing sudden force drops and maintaining system transparency while preserving stability during contact events.
Solution Approach 2:
The controller implements feedback by continuously monitoring the energy flow direction and dynamically adjusting the damping control based on detected changes. When a change in energy flow direction is detected, the controller modifies the damping coefficient to reduce excessive damping effects, thereby maintaining system transparency while preserving stability.
2Reliability
If damping control is applied to dissipate excess energy from transmission delays, then system passivity is maintained, but position accuracy deteriorates due to excessive damping during energy flow transitions
Solution Approach 1:
The damping coefficient is made dynamic rather than fixed. The controller continuously adapts the damping coefficient based on the detected energy flow direction and rate of change. During normal operation, higher damping dissipates delay-induced excess energy to maintain passivity. During energy flow direction changes, the damping coefficient is reduced to prevent excessive damping that would degrade position accuracy.
Solution Approach 2:
The controller changes the damping parameter dynamically based on system state. When energy flow direction changes are detected, the damping coefficient is adjusted to an optimized value that balances passivity maintenance with position accuracy preservation. This parameter adaptation allows the system to maintain reliability while improving measurement precision during critical transitions.
Data Source
AI summary
An actuator system, in particular for teleactuation, including a first actuator, in particular for operation by a user, a second actuator, in particular for executing a movement of the user, a transmission channel between the first actuator and the second actuator for transmitting the velocity and/or force of the first actuator to the second actuator and vice versa, and a controller, wherein the controller is configured such that the energy of the first actuator introduced in the direction of the transmission channel and the energy of the second actuator introduced in the direction of the transmission channel can be measured by the controller as target energy, wherein the controller is configured to transmit a predefined portion of the target energy back to the first actuator as part of a reference energy, and the controller is configured to control the damping of the first actuator and/or the second actuator as a function of the transmitted reference energy.