Teleoperation Control System with Adaptive Communication Link
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Solution Overview
Problem
Teleoperation of industrial robots faces challenges in maintaining real-time communication links over long distances, which can result in delays that lead to damage to workpieces or equipment, especially in applications like grinding and material handling, where precise control is critical.
Innovation Solution
A system for teleoperation of machines with actuated mechanisms includes a remote robot station, an operator station, and a communication link that ensures real-time data transfer by adapting parameters based on current data rate and transmission time, incorporating smart sensors, haptic devices, and a hybrid control architecture that partitions degrees of freedom for remote and local control, enabling efficient and safe operation across various environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If real-time communication link is maintained over long distances, then teleoperation capability is improved, but communication delays occur leading to potential damage to workpieces or equipment
Solution Approach 1:
The system dynamically adapts communication parameters including data rate and transmission time based on current system state to optimize performance and minimize delays in real-time teleoperation
Solution Approach 2:
The system changes communication parameters such as data rate and transmission time to maintain deterministic communication performance over varying distances and conditions
2Ease of operation
If control is transferred from machine controller to remote control station, then operator flexibility is improved, but communication latency increases
Solution Approach 1:
The system pre-establishes communication parameters and adapts them before control transfer occurs, ensuring minimal latency when control transitions from machine controller to remote control station
Solution Approach 2:
The system uses feedback mechanisms to monitor and adjust communication parameters in real-time, ensuring deterministic performance during control transfer operations
Data Source
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AI summary
A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.