Telerobotic Contact Control Using Virtual Spring Force Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current telerobotic robot control systems face challenges in precision, reliability, and ergonomics due to direct force feedback from sensor-detected external forces, which can lead to undesired impacts and potential damage during teleoperation.
Innovation Solution
A method and system that utilize a movable actuator input device to command target poses and forces, incorporating a virtual spring contact mode to simulate contact with obstacles, reducing impact effects and enhancing ergonomic operation by adjusting stiffness based on external forces, and incorporating damping components to improve handling and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If direct force feedback from sensor-detected external forces is used, then the operator experiences direct haptic feedback at the actuator, but undesired impacts and potential damage occur during teleoperation
Solution Approach 1:
The patent introduces a virtual spring element that acts as a cushion between the robot and the operator. When the robot approaches a target position, the virtual spring stores potential energy and gradually releases it, cushioning the approach and preventing direct impact. This prior cushioning mechanism protects both the robot and the environment from damage while maintaining force feedback for the operator.
Solution Approach 2:
The virtual spring serves as an intermediary element between the direct force feedback system and the robot's movement. Instead of directly transmitting external forces to the actuator, the virtual spring mediates the interaction by introducing a compliant element that smooths out force transitions and prevents harmful impacts while preserving the essential force feedback information.
2Measurement precision
If target pose changes are commanded based on detected manual adjustment of the actuator, then the telerobotic robot can be controlled precisely, but the operation may lack ergonomic advantages
Solution Approach 1:
The patent changes the parameter representation from direct position control to force-based control with a virtual spring. By introducing the spring constant as a controllable parameter, the system allows operators to interact with the robot through force application rather than precise position manipulation. This parameter transformation maintains pose control precision while significantly improving operational ergonomics and intuitiveness.
3Ease of operation
If a virtual spring contact mode is incorporated to simulate contact with obstacles, then impact effects are reduced and ergonomic operation is enhanced, but the system complexity increases
Solution Approach 1:
The patent replaces complex mechanical contact mechanisms with a virtual spring model implemented through software control. Instead of physical springs or complex mechanical compliance elements, the system uses computational models to simulate spring behavior. This substitution reduces physical device complexity while maintaining the ergonomic benefits of compliant interaction.
Data Source
AI summary
A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: —commanding a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and —commanding a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.