Robot Teleoperation Force Control for Safe Contact Tracking

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Solution Overview

Problem

Existing remote control of robots can lead to unintended movements and excessive contact forces due to communication issues or environmental complexities, causing damage to workpieces or robots.

Innovation Solution

A robot teleoperation system with a control system that determines a coefficient K and a control force F based on the displacement error between a reference point on the master robot and a selected point on the slave robot, using a virtual mechanical-impedance system to maintain control forces within safe limits.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the slave robot follows the master robot's motion through remote control, then the robot can operate in complex environments, but communication issues or environmental factors may cause unintended movements and excessive contact forces

Engineering Contradiction:

Improveability to operate in complex environmentsVSAvoidcontrol accuracy

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The control system continuously monitors the displacement error between the master robot's reference point and the slave robot's selected point, and adjusts the control force in real-time based on this feedback to maintain reliable control despite communication delays or environmental complexities

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The control system dynamically adjusts the control force parameter F based on the displacement error, modifying the force applied by the slave robot to prevent excessive contact forces while maintaining operational versatility in complex environments

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If the slave robot applies sufficient control force to follow the master robot accurately, then motion tracking is improved, but excessive contact forces may damage the workpiece or robot

Engineering Contradiction:

Improvemotion tracking accuracyVSAvoidexcessive contact forces

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The control system dynamically adjusts the control force parameter F based on the displacement error, applying sufficient force to maintain motion tracking accuracy while preventing excessive forces that could damage the workpiece or robot through real-time parameter modification

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The control system acts as an intermediary between the master robot's motion commands and the slave robot's execution, mediating the control force to achieve accurate tracking while filtering out excessive forces that could cause damage

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS20250214244A1Robot teleoperation system and method

Publication Date: 2025.07.03 SHANGHAI FLEXIV ROBOTICS TECH CO LTD

AI summary

The present disclosure provides a robot teleoperation system comprising a master robot, a slave robot, and a control system configured to cause the slave robot to follow the movement of the master robot. The control system is further configured to determine a coefficient K and determine a control force F output by the slave robot at the selected point based on the coefficient K and a displacement error between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point.