Telerobotic Robot Haptic Control With Virtual Borders
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Solution Overview
Problem
Current telerobotic robot control methods using movable actuators lack precision, reliability, and ergonomics, leading to complex and unreliable teleoperation.
Innovation Solution
A method and system that command target poses and forces using an input device with a movable actuator, incorporating virtual borders to provide haptic feedback and prevent unauthorized movements, enhancing control precision and safety through a restoring force component and force feedback emulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If target pose is commanded based on detected actuator position, then control precision of the telerobotic robot is improved, but the complexity of the control system increases
Solution Approach 1:
The system implements bidirectional feedback loops: actuator position is detected and fed back to command target pose, while external forces on the robot are sensed and fed back to command target forces on the actuator. This feedback mechanism enables precise control by continuously adjusting commands based on actual system state, resolving the contradiction between precision and complexity through intelligent control architecture.
Solution Approach 2:
The controller acts as an intermediary between the actuator and the telerobotic robot, transforming detected actuator positions into commanded target poses and sensor-determined external forces into commanded target forces. This intermediary processing layer simplifies the overall control architecture by centralizing the complex transformations and calculations in a dedicated control unit.
2Reliability
If target force is commanded on the actuator, then operational reliability and ergonomics are improved, but the device complexity increases
Solution Approach 1:
External forces acting on the telerobotic robot are detected by sensors and fed back to the controller, which then commands corresponding target forces on the actuator. This force feedback loop enhances operational reliability by providing the operator with haptic information about contact forces, while the automated force calculation and command generation manage the complexity within the controller.
Solution Approach 2:
The system automatically calculates and commands target forces based on sensor-determined external forces without requiring manual intervention. The controller autonomously processes force sensor data, transforms it into appropriate actuator force commands, and adjusts them in real-time, enabling the system to serve itself and reducing the operational burden on the user.
3Object-affected harmful factors
If virtual borders with restoring force are implemented, then safety and protection of robot environment are improved, but control system complexity increases
Solution Approach 1:
Virtual borders are pre-defined in the control system with associated restoring forces that activate before actual physical contact occurs. When the robot approaches a virtual border, the restoring force counteracts the movement in advance, preventing unauthorized movements and protecting the environment before harmful contact can occur. This preliminary protective action reduces the need for complex emergency response mechanisms.
Solution Approach 2:
Virtual borders act as an intermediary protective layer between the operator's commands and the physical environment. The restoring force associated with virtual borders mediates the interaction by automatically generating counter-forces when borders are approached, filtering out potentially harmful commands before they reach the robot's actuators, thus simplifying the overall safety architecture.
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 the telerobotic robot on the basis of a detected position of the actuator; andcommanding a target force of the actuator;wherein at least one virtual border is specified between a permissible and an impermissible region for the telerobotic robot, and the target force includes a restoring force component starting from said border, the restoring force component counteracting an actuation of the actuator for commanding a movement of the telerobotic robot away from the border in the direction of the impermissible region.