Homogeneous Teleoperation Arms for Null-Space Motion Control
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Solution Overview
Problem
Bilateral teleoperation systems face challenges due to differing degrees of freedom between primary-end and secondary-end operation platforms, leading to null-space motions that result in loss of control over secondary-end mechanical arms.
Innovation Solution
The system employs homogeneous mechanical arms with equal degrees of freedom and controllers connected by torque sensors and electronic skins to ensure direct mapping of operator inputs, preventing null-space motions and enhancing control precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the secondary-end operation platform has more degrees of freedom than the primary-end operation platform, then the mechanical arm can perform additional redundant motions, but this causes null-space motion that leads to loss of control
Solution Approach 1:
The patent changes the parameter of degrees of freedom to be equal between primary-end and secondary-end mechanical arms, eliminating the null-space motion caused by redundant joints while maintaining full motion capability through precise parameter matching
Solution Approach 2:
The patent implements real-time feedback through torque sensors and electronic skins that monitor the state of mechanical arms and provide control signals to synchronize movements, ensuring control stability while maintaining adaptability
2Measurement precision
If homogeneous mechanical arms with equal degrees of freedom are used, then control precision is improved through direct mapping, but device complexity increases due to additional sensors and control systems
Solution Approach 1:
The patent standardizes the degrees of freedom parameter to be equal between primary-end and secondary-end mechanical arms, enabling direct mapping and precise control while managing complexity through parameter uniformity
Solution Approach 2:
The patent implements multi-functional sensors (torque sensors and electronic skins) that simultaneously perform multiple functions including force detection, position monitoring, and control feedback, reducing overall system complexity while maintaining high control precision
Data Source
AI summary
A bilateral teleoperation system includes: a primary-end operation platform and a secondary-end operation platform. The primary-end operation platform includes: a primary-end support, primary-end mechanical arms, a mechanical hand control assembly, and a first controller, a root end of the primary-end mechanical arm being arranged on the primary-end support, and a tail end of the primary-end mechanical arm being connected to the mechanical hand control assembly. The secondary-end operation platform includes: a secondary-end support, secondary-end mechanical arms, secondary-end mechanical hands, and a second controller, a root end of the secondary-end mechanical arm being arranged on the secondary-end support, and a tail end of the secondary-end mechanical arm being connected to the secondary-end mechanical hand; the primary-end mechanical arm and the secondary-end mechanical arm are homogeneous mechanical arms, and the first controller in the primary-end operation platform is communicatively connected to the second controller in the secondary-end operation platform.