This technology measures the real-time distance between a robot manipulator and a workpiece or obstacle using sensors (stereo cameras, laser sensors) during remote operation. It is a control method that ensures operational efficiency and collision safety by dynamically and automatically switching the manipulator's operating ratio (indexing mode, precision mode, and stability mode) based on the measured proximity.
When operating remotely based on visual information, there is a risk of collision between the manipulator and the workpiece or obstacles due to blind spots, operator inexperience, or human error. Additionally, discrepancies in the workspace between the remote control interface and the manipulator often make precise control difficult.
This technology introduces a three-stage motion control algorithm based on proximity measurement data. It automatically optimizes the robot manipulator's speed and control ratio by switching to indexing mode (variable control ratio) when the distance is below a first threshold, precision mode (fine control ratio) when it exceeds a second threshold, and stability mode (motion stop and collision prevention) when it is below the second threshold.
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