JP3749883B2 - Remote operation method and apparatus - Google Patents

Description

各変数・パラメータは、一般性を持たせるために、行列・ベクトルにより表現されることとする。
（ここで、Ｍ、Ｃ、Ｋは、それぞれ予め定められる制御ゲイン）
【００１７】
遠隔操作計算機２２では時刻ｔにおいて、操作者が入力するコマンド位置ｘ_ｃと、遠隔操作計算機２２が受信するコマンドに対する結果であるｘ_ｒ及びｘ_ｔ、の値が存在する。これらの値を用いて力感覚入力装置２１に与える力Ｆ（力表示に相当）を計算する。遠隔操作計算機２２は、次のような力フィードバック式（Ｆｏｒｃｅ ｒｅｆｌｅｃｔｉｎｇ ｅｑｕａｔｉｏｎ）から力感覚入力装置２１への反力を計算し、力感覚入力装置２１のプログラムにおいてこの反力の大きさが適当に補正され、力感覚入力装置２１を操作している操作者に力感覚（反力）として表示する。
Ｆ＝ｋ_ｔ（ｘ_ｒ−ｘ_ｃ）＋ｋ_ｃ（ｘ_ｔ−ｘ_ｒ）
（ここで、
ｋ_ｔ、ｋ_ｃは、それぞれ予め定められる第１及び第２の係数（ゲイン）、
ｘ_ｃは、操作者が入力する指令値（コマンド位置）、
ｘ_ｒは、遠隔操作装置が受信する、被制御部動作を制御するコンプライアンス基準位置、
ｘ_ｔは、遠隔操作装置が受信する、被制御部位置、
である。）
【００１８】
なお、上式で示される力Ｆを構成する力感覚のパラメータとしては、第１項の「時間遅れ力感覚表示」と第２項の「接触力感覚表示」を含む。「時間遅れ力感覚表示」は、ｋ_ｔ（ｘ_ｒ−ｘ_ｃ）の項であり、通信の時間遅れを力感覚に変換したものである。一方、「接触力感覚表示」は、ｋ_ｃ（ｘ_ｔ−ｘ_ｒ）の項であり、マニピュレータの力（例、手先力）を力感覚に変換したものを、それぞれ表す。「時間遅れ力感覚表示」の力の大きさと、「接触力感覚表示」の力の大きさは、この係数ｋ_ｔ、ｋ_ｃの値を変更することにより、適宜設定することができ、それによりマニピュレータ１１の状態を操作者が適宜の感覚として認識することができる。
【００１９】
３．遠隔操作具体例
図４に、遠隔操作方法の動作説明図を示す。図４（Ｂ）中、上の破線は接触力感覚表示成分、下の破線は時間遅れ力感覚表示成分を示し、これらの和を実線で示している。
また、図５に、動作と座標系の説明図を示す。この図では、マニピュレータ１１の手先座標系(初期手先位置に原点が固定されるベース座標系）及び力感覚入力装置２１の座標系のうちＸ軸及びＺ軸が示される。
【００２０】
これらの図を参照して、本実施の形態を、送信コマンドによる一回のロボットマニピュレータ動作時間（ある位置からある位置への移動）が、通信遅延時間より小さい場合を例にとり説明する。マニピュレータ１１に指令する動作は、一例として、単純な押し付け作業であり、障害物（壁、床等の対象物）と離れた位置からマニピュレータ１１を動作させ、障害物に接触後、障害物から離す、という作業である。ここで、操作者による力感覚入力装置２１からの入力をコマンド位置ｘ_ｃとして、マニピュレータ１１はコンプライアンス制御されているものとする。遠隔操作計算機２２がリモート計算機１３から受信するテレメトリ情報としては、コンプライアンス基準位置ｘ_ｒ、マニピュレータ１１のアーム手先位置又は姿勢を表すマニピュレータ位置ｘ_ｔがある。また、力感覚表示の設定条件（ｋ_ｔ、ｋ_ｃ）としては、一例として、次の関係が成り立つ値とする。
（時間遅れ力感覚表示の力の大きさ）＜（接触力感覚表示の力の大きさ）
以下に時系列的な動作を説明する。ここで、力の増加および減少は、力の大きさに対する表現であり、方向には関係ない。
【００２１】
（１）押し付けコマンド入力
まず、操作者が力感覚入力装置２１によりロボットマニピュレータ動作を指示するコマンド入力をｔ_０からｔ_１まで行うと、遠隔操作計算機２２が計算する力感覚表示Ｆは、入力に比例して（特に、時間遅れ力感覚表示成分が）増加する（すなわち、この例では、Ｆ＝ｋ_ｔ（０−ｘ_ｃ）となる。）。ｔ_１において、力感覚入力装置２１によるコマンド入力が完了すると、ｘ_ｃが一定となるため、遠隔操作計算機２２が計算する力感覚表示Ｆは一定となる。操作者は、この力感覚表示の変化により力感覚入力装置２１から受ける感覚により、コマンド入力の開始及び完了を認知することができる。
【００２２】
（２）マニピュレータ接触動作開始
ｔ_２よりロボットマニピュレータ１１が動作を開始すると、遠隔操作計算機２２が計算する力感覚表示Ｆは減少する（すなわち、Ｆ＝ｋ_ｔ（ｘ_ｒ−ｘ_ｃ）のうちｘ_ｒが増加することで、この項が減少する。）。操作者は、この力感覚表示の変化により力感覚入力装置２１から受ける感覚により、マニピュレータの障害物への接触動作開始を認知することができる。
【００２３】
（３）マニピュレータ接触
この動作中にｔ_３においてマニピュレータ１１に障害物との接触が発生した場合、設定条件である、「（時間遅れ力感覚表示の力の大きさ）＜（接触力感覚表示の力の大きさ）」により、遠隔操作計算機２２が計算する力感覚表示Ｆは減少方向から増加方向へと変化する（すなわち、Ｆ＝ｋ_ｔ（ｘ_ｒ−ｘ_ｃ）＋ｋ_ｃ（ｘ_ｔ−ｘ_ｒ）のうち、第２項が増加して力感覚表示に影響することとなる。）。操作者は、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータの接触を認知することができる。遠隔操作計算機２２が計算する力感覚表示Ｆは、ｔ_４においてマニピュレータ１１のコンプライアンス基準位置（参照点）が目標値に達するまで増加し、その後一定となる。操作者は、さらに、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータ１１のコンプライアンス基準位置が目標値に達したことを認知することができる。
【００２４】
（４）離脱コマンド入力
次に接触を認知した操作者が、ｔ_５において、力感覚入力装置２１により接触状態を脱する動作についてのコマンド入力を行う。この操作により、遠隔操作計算機２２が計算する時間遅れ力感覚表示成分は減少し、接触力感覚表示成分は一定となり、これらの和としての力感覚入力装置２１から操作者が受ける力感覚表示Ｆは減少をはじめる。その後、遠隔操作計算機２２が計算する力感覚表示Ｆは反対方向の力を表示し、動作入力完了であるｔ_７まで増加し、その後一定となる。操作者は、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータ１１の離脱コマンドの入力及び入力完了、また、コマンドが離脱できたことを認知することができる。
【００２５】
（５）マニピュレータ離脱動作開始
ｔ_８において、ロボットマニピュレータ１１が障害物から離脱する動作を開始すると、遠隔操作計算機２２が計算する接触力感覚表示成分が減少し、さらに、時間遅れ力感覚表示成分が力感覚表示に影響することとなり、これらの和として力感覚入力装置２１から操作者が受ける力感覚表示Ｆは増加する。操作者は、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータ１１の離脱動作開始を認知することができる。
【００２６】
（６）マニピュレータ離脱
マニピュレータ１１の接触から脱する時刻ｔ_９において、遠隔操作計算機２２が計算する力感覚表示Ｆは時間遅れ力感覚表示成分のみとなり、増加方向から減少方向へと変化する。操作者は、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータ１１の障害物からの離脱を認知することができる。最終的にロボットマニピュレータ１１の動作が完了するｔ_１０に達すると、力感覚表示はゼロとなる。操作者は、さらに、この力感覚表示の変化に従い力感覚入力装置２１から受ける感覚により、マニピュレータ動作の完了を認知することができる。
【００２７】
このように、ロボットマニピュレータの動作の認知とともに、力感覚入力装置２１により受ける操作者が確実に認知できる力感覚表示の増加、減少、一定、反転、等の現象により、接触・離脱等に関する動作の状態（動作点、ポイント）を認知することが可能となる。力感覚入力装置２１による力感覚表示により、動作・接触等の情報を認知できることにより、視覚・知覚情報より多くの情報を認知できることとなり、操作効率の向上が期待できる。
【００２８】
なお、動作入力中のｔ_５〜ｔ_７の間に、「（時間遅れ力感覚表示の力の大きさ）＝（接触力感覚表示の力の大きさ）」の設定とすることにより、接触点となる時刻ｔ_８において力感覚表示はゼロとすることができる。また、「（時間遅れ力感覚表示の力の大きさ）＜接触力感覚表示の力の大きさ」」の設定である場合、力感覚表示がゼロとなる点は少し遅くなる。「（時間遅れ力感覚表示の力の大きさ）＜＜接触力感覚表示の力の大きさ」」という設定とした場合、力感覚表示はゼロとならない。これらのことを考慮して、「時間遅れ力感覚表示の力の大きさ」と「接触力感覚表示の力の大きさ」、すなわち、ｋ_ｔ、とｋ_ｃは、適宜適切に設定する必要がある。
【００２９】
４．作業実験例
図６は、作業実験例の結果を示す図である。図６（ａ）は、接触時間と接触認知時間の差、図６（ｂ）は、離れた時間と離れたことを認知する時間の差、図６（ｃ）は、離脱時における接触点へのコマンド誤差を示す図であり、それぞれの結果を平均と標準偏差が示される。
作業実験例は、上述のように、ロボットマニピュレータの手先により対象障害物を押し付けるものである。この作業実験例では、次のイ）〜ハ）を測定した。
イ）ロボットマニピュレータ１１が対象障害物に接触した時間とその状態を操作者が認知した時間の差、
ロ）ロボットマニピュレータ１１が対象障害物から離れた時間とその状態を操作者が認知した時間の差
ハ）最終状態におけるロボットマニピュレータ１１と対象障害物との距離
【００３０】
イ）はｔ_３、ロ）はｔ_９、ハ）はｔ_６を、それぞれ力感覚入力装置２１から受ける力感覚により認知する評価である。ハ）に関しては、コマンド入力において対象障害物から離れるコマンド送信を認知することを評価しており、認知が遅れれば最終状態におけるロボットマニピュレータと対象障害物との距離が大きくなることを評価した。力感覚のパラメータとして、
１）時間遅れ力感覚表示＝ｋ_ｔ（コマンド位置−テレメトリコンプライアンス基準位置）
２）接触力感覚表示＝ｋ_ｃ（テレメトリコンプライアンス基準位置−テレメトリマニピュレータ位置）
と設定し、ｋ_ｔ＝１、ｋ_ｃ＝１．０、１．５、２．０の場合について、被験者４人が１０回ずつ操作を行い、評価を行った。
【００３１】
この作業実験例では、現象が生じた時間と認知した時間、またはそれぞれの位置の差をとっているので、各値は小さいほど的確に認知できていると評価できる。イ）では係数ｋ_ｃが大きいほど認知度が高く、ロ）では係数ｋ_ｃが大きいほど認知度が高く、ハ）では係数ｋ_ｃが小さいほど認知度が高い、と予測される。結果として、イ）とハ）は予測どおり、ロ）は予測と違い、ｋ_ｃ＝１．５、２．０、１．０の順で的確な認知ができている。しかし、ロボットマニピュレータ１１が障害物から離れる時間を認知する値であるロ）は、ロボットマニピュレータが離れるコマンドを認知する値であるハ）と密接に関係しており、ハ）の認知が的確であるとロ）の認知も的確になるといえる。このような理由によりこの実験例の結果が予測と異なる結果となったことには説明がつく。
【００３２】
５．付記
本発明の遠隔操作方法又は遠隔操作の装置・システムは、その各手順をコンピュータに実行させるための遠隔操作プログラム、遠隔操作プログラムを記録したコンピュータ読み取り可能な記録媒体、遠隔操作プログラムを含みコンピュータの内部メモリにロード可能なプログラム製品、そのプログラムを含むサーバ等のコンピュータ、等により提供されることができる。
【００３３】
また、上述では、主に、ｘ_ｃ、ｘ_ｒ、ｘ_ｔは、それぞれ位置として説明したが、姿勢を表すデータとしても本発明を適用することができる。さらに、上述では、主に、送信コマンドによる一回のロボットマニピュレータ動作時間が通信遅延時間より小さい場合、また、マニピュレータを単純な障害物へ押し付ける作業について、説明したが、本発明はこれに限らず、適宜のコマンド動作時間及び通信遅延時間、マニピュレータ等の適宜のロボットや被制御装置を対象とした適宜の作業・動作に適用することができる。
【００３４】
【発明の効果】
本発明によると、以上のように、特に通信時間遅れがある状態で、リモートサイトにおけるロボットマニピュレータ等の被制御部の動作・停止及び被制御部と対象物の接触等の状態を操作者に力感覚として伝達することを可能とする遠隔操作方法及び装置を提供することができる。本発明によると、人間が自分の手で力を感じて、被制御部の動作や対象物との接触等の状態を力感覚で把握することで、あたかもその場にいるような遠隔操作装置及び方法を提供することができる。また、本発明によると、通信時間遅れを力感覚表示することで触覚又は力覚から認識させることにより、操作者はリモートサイトにおける力の発生情報を時間遅れの認識とあわせて処理可能とすることができる。すなわち、本発明によると、これまで困難とされてきた、ロボットマニピュレータに発生する力実測値の力感覚認識を可能とすることができる。さらに、本発明によると、従来のように時間遅れを視覚・聴覚などにより認識して触覚認識される力発生情報との関係を頭脳において処理する場合に比べ、格段に操作性を向上することができる。
【図面の簡単な説明】
【図１】図１は、遠隔操作システムの構成図。
【図２】図２は、遠隔操作計算機の構成図。
【図３】図３は、遠隔操作方法の動作説明図。
【図４】図４は、遠隔操作方法の動作説明図。
【図５】図５は、動作と座標系の説明図。
【図６】図６は、作業実験例の結果を示す図。
【符号の説明】
１０ リモートサイト装置
２０ 遠隔操作装置
３０ 通信回線
１１ マニピュレータ
１２ 力センサ
１３ リモート計算機[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a remote operation method and apparatus, and more particularly, to a remote operation method and apparatus capable of displaying a force sensation regarding the state of operation, stop, contact, etc. of a controlled part in remote operation with a communication time delay. .
[0002]
[Prior art]
In remote operation involving long-distance communication such as in space or the deep sea, it is expected that a signal transmission time for the operation will cause a communication time delay. For example, a communication time delay of about 2 to 10 seconds usually occurs in the communication between the earth orbit in outer space and the ground. In such extreme environments, work robots are required, but autonomous robots still have many technical problems to be realized, and it can be expected that remote control robots are effective as practical methods.
[0003]
On the other hand, the development of communication technology in recent years has been remarkable, and the exchange of visual and auditory information has spread to ordinary households through the Internet. In the future, for the purpose of remote work by technicians represented by surgery, maintenance, etc., skill education via the Internet, the use of networks such as the Internet or communication lines will spread to communication of tactile and haptic information. is expected. In such a situation, when a general line is used, a communication time delay is expected.
For this reason, methods for simulating a virtual robot that operates without time delay, creating a virtual environment model, and sending control signals are being actively studied (eg, literature: Tsuji et al. Journal of the Robotics Society of Japan 19,4, p518). -527 (2001), JP 2001-25986 A). Further, a technique for performing compliance control so that the work robot does not overload the object is known (see Japanese Patent No. 3151437).
[0004]
[Problems to be solved by the invention]
As mentioned above, there are many situations where robots are expected to be active in terms of safety or workability. However, it is often difficult to realize a fully autonomous robot, and remote control technology for remote control robots is improved. Is desired. In remote control, how to overcome the communication time delay is an important issue. Conventionally, when performing remote operation of a robot manipulator, haptic information is an important factor for improving operability, but it has been considered that haptic feedback may be difficult due to a delay in communication time.
[0005]
Conventionally, it has been considered difficult to feed back the measured force value of the controlled portion to the operator, particularly in remote operation with a communication time delay of several seconds or more. For this reason, in the conventional technology related to remote operation, a method of constructing a model in a computer and operating the model (force calculated by the model is fed back) has been mainstream. That is, the command transmitted to the actual robot is an open loop, and the operation result of the actual robot is not reflected in the operation. In other words, a command verified by the computer model is transmitted. In such a conventional technique, the construction of a high-accuracy model becomes a problem.
[0006]
However, the conventional technology cannot always fill in the error between the virtual model and the actual. This is a problem not only in space-ground, but also in remote operation and telemedicine in a situation where the communication state is not good.
Further, in the conventional technique, a method of reducing the responsiveness of force by a virtual spring / damper is considered, but there is a problem that fine work is difficult. Thus, conventionally, force feedback in remote operation with a communication time delay is difficult, so there is no practical method, and until now, it has relied on visual information.
[0007]
In view of the above points, the present invention provides the operator with the ability to control the operation / stop of a controlled unit such as a robot manipulator at a remote site and the contact between the controlled unit and an object, particularly in a state where there is a communication time delay. An object of the present invention is to provide a remote operation method and apparatus that can be transmitted as a sensation. The present invention relates to a remote control device and method as if a person feels a force with his / her hand and grasps a state of operation of a controlled unit or a contact with an object with a force sense, as if he / she was on the spot The purpose is to provide. In addition, the present invention allows the operator to process the generation information of the force at the remote site together with the recognition of the time delay by causing the communication time delay to be recognized from the tactile sense or the force sense by displaying the force delay. For other purposes. That is, an object of the present invention is to enable force sensation recognition of an actually measured force value generated in a robot manipulator, which has been considered difficult until now. In addition, the present invention significantly improves operability as compared with the conventional case where the relationship between force generation information to be recognized by tactile sensation is processed in the brain by recognizing time delay visually or auditoryly. For other purposes.
[0008]
[Means for Solving the Problems]
According to the first solution of the present invention,
Using a remote operation system including a remote operation device, a remote site device, and a communication line having a communication time delay for transmitting information between the devices, the remote operation device controls the remote site device. A remote operation method for remotely operating a part with a communication time delay,
The remote control device transmits a command related to the position or orientation of the controlled unit to the remote site device via the communication line, and receives telemetry related to the position or orientation of the controlled unit from the remote site device;
The remote site device receives the command from the remote control device via the communication line, and transmits the telemetry to the remote control device;
The remote operation device outputs a command value in accordance with an input from an operator, and transmits the force sense obtained by the remote operation device to the operator as a display value, and the command input by the force sense input device, Based on the telemetry received from the site device, obtaining a time delay force sense display value for displaying a communication time delay and a contact force sense display value for displaying the contact of the controlled part with the object;
The remote control device obtains a force for representing the state of the controlled portion in the remote site device as a force sense display value based on the time delay force sense display value and the contact force sense display value, and calculates the force sense display value. Communicating to the operator as a force sensation using a force sensation input device
The remote control method is provided.
[0009]
According to the second solution of the present invention,
Using a remote operation system including a remote operation device, a remote site device, and a communication line having a communication time delay for transmitting information between the devices, the remote operation device controls the remote site device. A remote operation method for remotely operating a part with a communication time delay,
The remote control device transmits a command related to the position or orientation of the controlled unit to the remote site device via the communication line, and obtains information on the compliance reference position or orientation and the controlled unit position or orientation from the remote site. Receiving telemetry including,
The remote site device receives a command from the remote control device via the communication line, and transmits the telemetry to the remote control device;
The remote control device delays a value based on a difference between the command input by the force sense input device that outputs a command value according to an input from an operator and a compliance reference position or posture received from the remote site device. As a force sense display value,
Obtaining a value based on the difference between the compliance reference position or posture and the controlled portion position or posture as a contact force sense display value;
The remote control device obtains a force for representing the state of the controlled portion in the remote site device as a force sense display value based on the time delay force sense display value and the contact force sense display value, and calculates the force sense display value. Communicating to the operator as a force sensation using a force sensation input device
The remote control method is provided.
[0010]
According to the third solution of the present invention,
A remote operation device, a remote site device, and a communication line in which there is a communication time delay for transmitting information between the devices, and the remote operation device delays the communication time of the controlled part of the remote site device. A remote control device in a remote control system for remote control,
A remote control computer,
A force sense input device that outputs a command value in accordance with an input from the operator and transmits the force sense display value obtained by the remote operation computer to the operator as a force sense display;
With
The remote control computer is
Means for transmitting a command relating to the position or orientation of the controlled part to the remote site device via the communication line, and receiving telemetry relating to the position or orientation of the controlled part from the remote site device subject to compliance control; ,
Based on the command input by the force sensation input device and the telemetry received from the remote site device, a time delay force sensation display value for displaying a communication time delay and a contact of the controlled part to the object are displayed. Means for obtaining a contact force sense display value;
The force for representing the state of the controlled part in the remote site device is obtained as a force sense display value based on the time delay force sense value display and the contact force sense display value, and the force sense display value is obtained by the force sense input device. Means to communicate to the operator as a sense of force
The remote control device is provided.
[0011]
According to the fourth solution of the present invention,
A remote operation device, a remote site device, and a communication line in which there is a communication time delay for transmitting information between the devices, and the remote operation device delays the communication time of the controlled part of the remote site device. A remote control device in a remote control system for remote control,
A remote control computer,
A force sense input device that outputs a command value in accordance with an input from the operator and transmits the force sense display value obtained by the remote operation computer to the operator as a force sense display;
With
The remote control computer is
A command related to the position or posture of the controlled unit is transmitted to the remote site device via the communication line, while the compliance reference position or posture and the information on the position or posture of the controlled unit are transmitted from the remote site device subjected to compliance control. Means for receiving telemetry including:
Means for obtaining a value based on a difference between the command inputted by the force sense input device and a compliance reference position or posture received from the remote site device as a time delay force sense display value;
Means for obtaining a value based on a difference between the compliance reference position or posture and the controlled portion position or posture as a contact force sense display value;
The force for representing the state of the controlled part in the remote site device is obtained as a force sense display value based on the time delay force sense display value and the contact force sense display value, and the force sense display value is obtained by the force sense input device. Means to communicate to the operator as a sense of force
The remote control device is provided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
1. Constitution
FIG. 1 shows a configuration diagram of a remote operation system.
The remote operation system according to the present embodiment includes a remote site device 10 that is remotely operated, a remote operation device 20, and a communication line 30 that transmits information therebetween.
The remote site device 10 includes a manipulator (robot manipulator) 11, a force sensor 12, and a remote computer 13 as an example of a controlled unit. The manipulator 11 has, for example, a general-purpose general-purpose intelligent arm, a force sensor 12 is attached to the hand, and compliance control is performed by a remote computer 13. The remote computer 13 receives a command transmitted from the remote control device 20 via the communication line 30 and autonomously performs an operation with the position or posture as the compliance reference position or posture. Further, the remote computer 13 is a telemetry (measurement signal, measurement information) for measuring information on a compliance reference (center) position or posture and a manipulator position or posture with respect to a position or posture to be controlled of the manipulator 11 such as an arm hand. ) Is transmitted to the remote control device 20 via the communication line 30.
The remote operation device 20 includes a force sensing input controller 21 and a remote operation computer 22. The force sense input device 21 outputs an instruction value (command position or orientation) as an output signal by measuring an operator's input (instruction, command, command), and includes an actuator, and receives an input signal from the outside. It can be transmitted to the operator as force (force display, force feedback). As the force sense input device 21, for example, a force sense joystick having multiple degrees of freedom (eg, two degrees of freedom), a feedback joystick, a master arm, or the like can be used.
The communication line 30 connects the remote site device 10 and the remote operation device 20, and is connected by an appropriate interface such as RS-232C. As the communication line 30, wired or wireless, or an appropriate communication line or communication network that combines these is used. The communication line 30 has a communication time delay due to factors such as line length, communication device, network, and obstacles.
[0013]
FIG. 2 is a configuration diagram of the remote operation computer.
The remote operation computer 22 includes a processing unit 201, which is a central processing unit (CPU), an input unit 202, an output unit 203, a display unit 204, a storage unit 205, an interface 206 connected to the force sense input device 21, and a communication line 30. A communication interface 207 to be connected and an appropriate connection unit 208 such as a star or a bus are provided. In the storage unit 205, parameters such as predetermined coefficients and control gain, which will be described later, are stored in advance by the input unit 202 and the like. In addition, the processing unit 201 appropriately writes and reads a transmission command and a reception telemeter to and from the storage unit 205 as necessary.
[0014]
2. Control action
FIG. 3 is an operation explanatory diagram of the remote operation method.
The figure shows the data flow and processing calculations. The communication time is generated in communication between the remote operation computer 22 and the remote computer 13, whereas communication between the remote operation computer 22 and the force sense input device 21 and communication between the remote computer 13 and the manipulator 11. Time can be ignored. And time t _l When a command related to the position or orientation is transmitted from the remote control computer 22 in accordance with the command input from the force sense input device 21, the time t _m In addition, the remote computer 13 receives it. The remote computer 13 is time t _m The telemetry including the compliance reference position or posture and the manipulator position or posture is measured as necessary or transmitted to the communication line 30 by using data inside the computer. Furthermore, after that time t _n In addition, the remote control computer 22 receives telemetry from the remote computer 13 via the communication line 30. T _l <T _m <T _n It becomes the relationship. X _c Is a command value (command position, command position) input by the operator, x _r Is a reference position for controlling manipulator operation, x _t Represents a manipulator position (Tip position). Here, in the remote control computer 22, x _c (t _l ) = x _r (t _n ).
[0015]
Since the remote computer 13 controls the compliance of the manipulator 11, the compliance reference position x based on the transmitted command _r And the external force f acting on the manipulator 11, the time t _m The manipulator position x from the following control equation _t Is calculated. In other words, the manipulator performs an operation that satisfies a compliance control equation (Compliance control equation).
[0016]
[Expression 1]

Each variable / parameter is represented by a matrix / vector in order to have generality.
(Where M, C, and K are predetermined control gains)
[0017]
In the remote operation computer 22, the command position x input by the operator at time t. _c And x which is the result for the command received by the remote control computer 22 _r And x _t The value of, exists. Using these values, a force F (corresponding to force display) applied to the force sense input device 21 is calculated. The remote control computer 22 calculates the reaction force to the force sense input device 21 from the following force feedback equation, and appropriately corrects the magnitude of the reaction force in the program of the force sense input device 21. It is displayed as a force sensation (reaction force) to the operator who is operating the force sensation input device 21.
F = k _t (X _r -X _c ) + K _c (X _t -X _r )
(here,
k _t , K _c Are first and second coefficients (gains) determined in advance,
x _c Is the command value (command position) input by the operator,
x _r Is a compliance reference position for controlling the operation of the controlled part, received by the remote control device,
x _t Is the position of the controlled part received by the remote control device,
It is. )
[0018]
It should be noted that the force sensation parameters constituting the force F represented by the above formula include the first term “time delay force sensation display” and the second term “contact force sensation display”. "Time delay power sense display" is k _t (X _r -X _c ), Which is a communication time delay converted into a force sensation. On the other hand, “contact force sense display” is k _c (X _t -X _r ), Which represents the manipulator force (eg, hand force) converted to a force sensation. The magnitude of the force of “time delay force sensation display” and the magnitude of force of “contact force sensation display” are the coefficient k _t , K _c Can be set as appropriate by changing the value of, so that the state of the manipulator 11 can be recognized as an appropriate sensation by the operator.
[0019]
3. Example of remote operation
FIG. 4 shows an operation explanatory diagram of the remote operation method. In FIG. 4B, the upper broken line indicates the contact force sensation display component, the lower broken line indicates the time delay force sensation display component, and the sum of these is indicated by a solid line.
FIG. 5 is an explanatory diagram of the operation and the coordinate system. In this figure, the X-axis and the Z-axis are shown in the hand coordinate system of the manipulator 11 (base coordinate system in which the origin is fixed at the initial hand position) and the coordinate system of the force sense input device 21.
[0020]
With reference to these drawings, this embodiment will be described by taking as an example a case where a single robot manipulator operation time (movement from a certain position to a certain position) by a transmission command is shorter than a communication delay time. The operation commanded to the manipulator 11 is, for example, a simple pressing operation. The manipulator 11 is operated from a position away from an obstacle (a target such as a wall or a floor), and is moved away from the obstacle after contacting the obstacle. This is a work. Here, the input from the force sense input device 21 by the operator is the command position x. _c Assuming that the manipulator 11 is compliance-controlled. The telemetry information received by the remote control computer 22 from the remote computer 13 includes the compliance reference position x _r , A manipulator position x representing the arm hand position or posture of the manipulator 11 _t There is. Also, the setting conditions for force sensation display (k _t , K _c ) Is a value that satisfies the following relationship as an example.
(Magnitude of time delay force sensation display) <(Magnitude of contact force sensation display)
A time series operation will be described below. Here, the increase and decrease in force is an expression for the magnitude of the force and is not related to the direction.
[0021]
(1) Push command input
First, the operator inputs a command input for instructing the robot manipulator operation by the force sense input device 21. ₀ To t ₁ Until the force sensation display F calculated by the remote control computer 22 increases in proportion to the input (particularly, the time delay force sensation display component) (ie, in this example, F = k). _t (0-x _c ) ). t ₁ When the command input by the force sense input device 21 is completed, x _c Is constant, the force sensation display F calculated by the remote control computer 22 is constant. The operator can recognize the start and completion of command input by the sense received from the force sense input device 21 by the change of the force sense display.
[0022]
(2) Manipulator contact operation start
t ₂ When the robot manipulator 11 starts operating, the force sensation display F calculated by the remote control computer 22 decreases (that is, F = k). _t (X _r -X _c ) X _r As this increases, this term decreases. ). The operator can recognize the start of the contact operation of the manipulator to the obstacle by the sense received from the force sense input device 21 by the change of the force sense display.
[0023]
(3) Manipulator contact
T during this operation ₃ When a contact with an obstacle occurs in the manipulator 11, a remote operation computer according to the setting condition “(magnitude of force of time delay force sense display) <(magnitude of force of touch force sense display)” The force sensation display F calculated by 22 changes from decreasing direction to increasing direction (ie, F = k _t (X _r -X _c ) + K _c (X _t -X _r ), The second term increases and affects the force sense display. ). The operator can recognize the contact of the manipulator by the sense received from the force sense input device 21 according to the change of the force sense display. The force sensation display F calculated by the remote control computer 22 is t ₄ The compliance standard position (reference point) of the manipulator 11 increases until reaching the target value, and then becomes constant. Further, the operator can recognize that the compliance reference position of the manipulator 11 has reached the target value from the sense received from the force sense input device 21 in accordance with the change in the force sense display.
[0024]
(4) Leave command input
Next, the operator who recognizes the contact t ₅ The command input about the operation | movement which remove | eliminates a contact state with the force sense input device 21 is performed. By this operation, the time delay force sensation display component calculated by the remote operation computer 22 is reduced, the contact force sensation display component is constant, and the force sensation display F received by the operator from the force sensation input device 21 as the sum of these is Start to decrease. After that, the force sensation display F calculated by the remote control computer 22 displays the force in the opposite direction, and the operation input is completed. ₇ Until it becomes constant. The operator can recognize that the detachment command of the manipulator 11 has been input and the input has been completed, and that the command has been disconnected, based on the sensation received from the force sensation input device 21 according to the change in the force sensation display.
[0025]
(5) Manipulator disengagement start
t ₈ When the robot manipulator 11 starts to move away from the obstacle, the contact force sensation display component calculated by the remote control computer 22 decreases, and the time delay force sensation display component affects the force sensation display. As the sum of these, the force sense display F received by the operator from the force sense input device 21 increases. The operator can recognize the start of the detachment operation of the manipulator 11 by the sense received from the force sense input device 21 according to the change of the force sense display.
[0026]
(6) Manipulator removal
Time t when the manipulator 11 is released from contact ₉ The force sensation display F calculated by the remote control computer 22 is only the time lag force sensation display component and changes from increasing to decreasing. The operator can recognize the detachment of the manipulator 11 from the obstacle by the sense received from the force sense input device 21 according to the change of the force sense display. Finally, the operation of the robot manipulator 11 is completed t ₁₀ When reaching, the force sense display becomes zero. Further, the operator can recognize the completion of the manipulator operation by the sense received from the force sense input device 21 in accordance with the change in the force sense display.
[0027]
In this way, in addition to the recognition of the operation of the robot manipulator, the operation related to contact / disengagement is caused by the phenomenon of increase, decrease, constant, inversion, etc. of the force sense display that can be surely recognized by the operator with the force sense input device 21. It becomes possible to recognize the state (operation point, point). Since information such as movement and contact can be recognized by the force sense display by the force sense input device 21, more information than visual and perceptual information can be recognized, and improvement in operation efficiency can be expected.
[0028]
Note that t during operation input ₅ ~ T ₇ Between the time t at which the contact point is obtained by setting “(magnitude of force of time delay force sense display) = (magnitude of force of touch force sense display)” ₈ The force sense display can be zero. Further, when “(magnitude of time delay force sense display) <size of force of contact force sense display” ”is set, the point at which the force sense display becomes zero is slightly delayed. When the setting is “(magnitude of time delay force sensation display) <<< magnitude of contact force sensation display”], the force sensation display is not zero. Taking these into account, “the magnitude of the power of the time-delayed force sensation display” and “the magnitude of the force of the contact force sensation display”, that is, k _t , And k _c Must be set appropriately.
[0029]
4). Example of work experiment
FIG. 6 is a diagram illustrating the results of a working experiment example. 6 (a) shows the difference between the contact time and the contact recognition time, FIG. 6 (b) shows the difference between the separated time and the separation time, and FIG. 6 (c) shows the contact point at the time of separation. Is a diagram showing the command error, and the average and standard deviation of each result are shown.
In the working experiment example, as described above, the target obstacle is pressed by the hand of the robot manipulator. In this working experiment example, the following a) to c) were measured.
B) The difference between the time when the robot manipulator 11 contacts the target obstacle and the time when the operator recognizes the state,
B) The difference between the time when the robot manipulator 11 is away from the target obstacle and the time when the operator recognizes the state.
C) Distance between the robot manipulator 11 and the target obstacle in the final state
[0030]
B) t ₃ , B) is t ₉ , C) is t ₆ Are recognized by the force sense received from the force sense input device 21, respectively. With regard to c), we evaluated the recognition of command transmission away from the target obstacle in command input, and evaluated that the distance between the robot manipulator and the target obstacle in the final state would increase if the recognition was delayed. As a force sensation parameter,
1) Time delay force sensation display = k _t (Command position-telemetry compliance reference position)
2) Contact force sense display = k _c (Telemetry compliance reference position-Telemetry manipulator position)
And set k _t = 1, k _c = In the case of 1.0, 1.5, and 2.0, four subjects performed operations 10 times each and evaluated.
[0031]
In this work experiment example, the difference between the time when the phenomenon occurs and the recognized time, or the position of each, is taken. Therefore, it can be evaluated that each value is more accurately recognized. In a), the coefficient k _c The larger the value, the higher the recognition level. _c The larger the value is, the higher the degree of recognition is. _c The smaller the value, the higher the recognition level. As a result, a) and c) are as expected, b) is different from the prediction, k _c = 1.5, 2.0, and 1.0 are recognized correctly in this order. However, b), which is a value for recognizing the time when the robot manipulator 11 is separated from the obstacle, is closely related to c), which is a value for recognizing the command for the robot manipulator to leave, and the recognition of c) is accurate. (B) can be said to be accurate. For this reason, it can be explained that the result of this experimental example was different from the prediction.
[0032]
5. Appendix
The remote operation method or the remote operation apparatus / system of the present invention includes a remote operation program for causing a computer to execute each procedure, a computer-readable recording medium recording the remote operation program, and a remote operation program. It can be provided by a program product that can be loaded into a memory, a computer such as a server including the program, and the like.
[0033]
In the above description, mainly x _c , X _r , X _t Are described as positions, but the present invention can also be applied to data representing postures. Further, in the above description, the description has been mainly given of the case where the operation time of one robot manipulator by the transmission command is smaller than the communication delay time and the operation of pressing the manipulator against a simple obstacle. However, the present invention is not limited to this. The present invention can be applied to appropriate operations / operations for an appropriate command operation time and communication delay time, an appropriate robot such as a manipulator, and a controlled device.
[0034]
【The invention's effect】
According to the present invention, as described above, particularly in a state where there is a delay in communication time, the operation / stop of the controlled unit such as the robot manipulator at the remote site and the state of contact between the controlled unit and the target are instructed to the operator. It is possible to provide a remote operation method and apparatus that can be transmitted as a sensation. According to the present invention, a human being can feel a force with his / her hand and grasp a state of operation of a controlled part or contact with an object with a force sense, so that a remote control device as if it is in the place and A method can be provided. In addition, according to the present invention, by allowing the operator to recognize the communication time delay from the tactile sense or the force sense by displaying the force sense, the operator can process the force generation information at the remote site together with the recognition of the time delay. Can do. That is, according to the present invention, it is possible to recognize a force sensation of an actually measured force value generated in a robot manipulator, which has been difficult until now. Furthermore, according to the present invention, the operability can be greatly improved as compared with the case where the relationship with the force generation information recognized by tactile sensation is recognized by the visual and auditory senses as in the conventional case, as compared with the case where the brain processes the relationship with force generation information. it can.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a remote operation system.
FIG. 2 is a configuration diagram of a remote operation computer.
FIG. 3 is an operation explanatory diagram of a remote operation method.
FIG. 4 is an operation explanatory diagram of a remote operation method.
FIG. 5 is an explanatory diagram of an operation and a coordinate system.
FIG. 6 is a diagram showing the results of a working experiment example.
[Explanation of symbols]
10 Remote site device
20 Remote control device
30 Communication line
11 Manipulator
12 Force sensor
13 Remote computer

Claims (9)

Using a remote operation system including a remote operation device, a remote site device, and a communication line having a communication time delay for transmitting information between the devices, the remote operation device controls the remote site device. A remote operation method for remotely operating a part with a communication time delay,
The remote control device transmits a command related to the position or posture of the controlled portion input from the force sense input device to the remote site device via the communication line ;
The remote site device receives a command from the remote operation device via the communication line, performs compliance control on the controlled portion of the remote site according to the received command, and information on a compliance reference position or orientation of the controlled portion And telemetry including information on the position or orientation of the controlled part to the remote control device,
The remote control device receives the telemetry from the remote site device;
The remote control device obtains a time delay force sensation display value for displaying a communication time delay proportional to a difference between the transmitted command and the received compliance reference position or posture in the telemetry;
The remote control device obtains a contact force sensation display value for displaying the contact of the controlled part with the target object, which is proportional to the difference between the compliance reference position or orientation in the received telemetry and the controlled part position or orientation. ,
The remote control device obtains a force sense display value by the sum of the obtained time delay force sense display value and the contact force sense display value;
The remote control device obtains a force for representing the state of the controlled portion in the remote site device as a force sense display value based on the time delay force sense display value and the contact force sense display value, and calculates the force sense display value. The remote operation method including transmitting a force sensation to an operator using the force sensation input device. The remote control method according to claim 1 ,
The remote control method is characterized in that the force sensation display is obtained by the following equation.
F = k _t (x _r −x _c ) + k _c (x _t −x _r )
here,
k _t and k _c are predetermined first and second coefficients (gains), respectively.
x _c is a command value (command position) input by the operator,
_xr is a compliance reference position for controlling the operation of the controlled part, which is received by the remote control device;
_xt is the position of the controlled part received by the remote control device The remote control method according to claim 1 or 2 ,
When the controlled part comes into contact with the object and when the controlled part completes the operation from the state where the contact force is applied to the state where the contact force is not applied, the force sensation display changes, When a different value is set for the second coefficient, the remote operation method is characterized in that the operator recognizes a state related to contact by changing from increasing to decreasing or decreasing to increasing. The remote control method according to any one of claims 1 to 3 ,
When the transmission command that moves from the state where the contact force is applied to the controlled part to the state where the contact force is not applied is completed, the force sense display passes zero, that is, the direction of the force sense display is reversed. The remote operation method characterized by making an operator recognize the state regarding contact. The remote control method according to any one of claims 1 to 4 ,
The remote operation method, wherein the force sensation display changes when the controlled part of the remote site device is in operation. The remote control method according to any one of claims 1 to 5 ,
The remote control method characterized in that the state of the controlled unit is any one or more of contact with, detachment from, start of operation of contact, or detachment, or operation completion, or operation completion. The remote control method according to any one of claims 1 to 6 ,
A remote operation method characterized in that a force sensation display is constant when a position indicated by the command is constant and a position of a controlled part of the remote site device is constant. The remote control method according to any one of claims 1 to 7 ,
The controlled part in the remote site device is compliance-controlled,
The compliance control formula is determined based on a value corresponding to the difference between the position or orientation of the controlled portion and the compliance reference position or orientation, or the force generated when the controlled portion is stopped, with respect to the force generated in the controlled portion.
A remote operation method characterized in that a position or orientation of a controlled part is obtained using a command received by the compliance control formula as a compliance reference position or orientation. A remote operation device, a remote site device, and a communication line in which there is a communication time delay for transmitting information between the devices, and the remote operation device delays the communication time of the controlled part of the remote site device. A remote control device in a remote control system for remote control,
A remote control computer,
A force sense input device that outputs a command value in accordance with an input from the operator and transmits the force sense display value obtained by the remote operation computer to the operator as a force sense display;
The remote control computer is
Means for transmitting a command related to the position or orientation of the controlled portion input from the force sense input device to the remote site device via the communication line;
Means for receiving telemetry including compliance reference position or orientation information of the controlled portion and controlled portion position or orientation information from the remote site device that performs compliance control of the controlled portion of the remote site according to the received command; ,
Means for obtaining a time delay force sensation display value for displaying a communication time delay proportional to a difference between the transmitted command and the received compliance reference position or posture in the telemetry;
Means for obtaining a contact force sensation display value for displaying the contact of the controlled part with the object, which is proportional to the difference between the compliance reference position or attitude in the received telemetry and the controlled part position or attitude;
Means for obtaining a force sense display value by the sum of the obtained time delay force sense display value and the contact force sense display value;
The force for representing the state of the controlled part in the remote site device is obtained as a force sense display value based on the time delay force sense display value and the contact force sense display value, and the force sense display value is obtained by the force sense input device. Means for transmitting to the operator as a force sensation .

Images