Predictive Teleoperation Control for Robot Delay Compensation

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Solution Overview

Problem

Operation systems that remotely control robots experience delays due to communication and control delays, leading to reduced operation efficiency and a diminished sense of self-subject feeling for operators.

Innovation Solution

An operation system that includes a prediction unit using a machine learning model to predict operator motion, a control unit to control the robot based on the predicted motion, and a prediction time setting unit to adjust the prediction time interval based on delay times, allowing for improved synchronization and operator preference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If real-time remote control is implemented, then operator's sense of control is improved, but communication delay causes motion desynchronization

Engineering Contradiction:

Improveoperator's sense of controlVSAvoidcommunication delay

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The system performs preliminary action by predicting the operator's future motion based on current motion data and biomechanical models. This prediction allows the robot to be controlled in advance of the actual operator motion, compensating for communication delays and maintaining synchronization between operator intent and robot execution.

Inventive Principle:

Principle #10Preliminary action

2Productivity

If motion prediction is used to compensate delay, then operability is improved, but prediction accuracy may decrease with longer prediction intervals

Engineering Contradiction:

Improveoperation efficiencyVSAvoidmotion prediction accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The system applies dynamics by making the prediction interval adjustable rather than fixed. The prediction interval is dynamically optimized based on the specific communication delay conditions and operator characteristics, allowing the system to balance between compensation effectiveness and prediction accuracy for different operational scenarios.

Inventive Principle:

Principle #15Dynamics

3Device complexity

If fixed prediction interval is used, then system complexity is reduced, but adaptability to different delay conditions is limited

Engineering Contradiction:

Improvesystem complexityVSAvoidadaptability to delay variations

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The system implements parameter changes by making the prediction interval a variable parameter that can be adjusted according to different communication delay conditions. This allows the system to adapt to varying network conditions and operational requirements without fundamentally changing the system architecture, maintaining relatively low complexity while improving adaptability.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS11640203B2Operation system and operation method

Publication Date: 2023.05.02 HONDA MOTOR CO LTD

AI summary

An operation system including: a prediction unit configured to determine a predicted value of a motion of an operator at a prediction time that is a time after elapse of a prediction time interval from the present using a predetermined machine learning model from a biomedical signal of the operator; a control unit configured to control a motion of a robot on the basis of the predicted value; and a prediction time setting unit configured to determine the prediction time interval on the basis of a delay time from a current value of the motion of the operator to the motion of the robot.