JPH0557637A - Master-slave corresponding operation control device for robot hand - Google Patents

Abstract

PURPOSE:To carry out tracer control operation utilized a mapping information by providing a positioning device in which each joint shaft drive mechanism for a robot hand is driven so as to follow each joint angle of the robot hand while regarding the output of a mapping calculation device as a target value. CONSTITUTION:Respective finger joint DIP, PIP, MP angles of an operator picked up by a data glove 1 are transmitted from a data glove controller 12 to CPU 17 in a mapping calculation device PC through an interface 16. The finger joint DIP, PIP, MP angles of a slave hand B is taken in from a potentiometer 20 to CPU 17 in the mapping calculation device PC through an A/D converter 15. An order torque input to respective joint shafts 10, 11 of the slave hand B is transmitted to a harmonic drive servo-motor 9 through a D/A converter 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for copying a slave hand and a master hand of a robot hand and an operator.

[0002]

2. Description of the Related Art Conventionally, in order to teach a fingertip position (and direction) to a robot multi-fingered hand which is a multi-joint, multi-degree-of-freedom system, inverse kinematics is calculated from target fingertip position (and direction) information. Was used to calculate each joint angle.

[0003]

However, the calculation of each joint angle using the inverse kinematics is generally complicated, and is complicated when the fingertip position (and direction) is determined by trial and error according to the situation. There was a problem that repeated work was required. In this case, the present invention is to provide a master / slave compatible operation control device for a robot hand, which is effective for solving the above problems.

[0004]

The solution to the above-mentioned problems can be achieved by adopting the novel characteristic construction means enumerated below by the present invention. That is, the first feature of the present invention is a means for detecting the bending angle of each knuckle of the robot hand and the operator, a mapping calculation device that inputs each knuckle angle of the operator, and an output of the mapping calculation device. Is a target value, and a positioning device that drives each joint axis drive mechanism of the robot hand to follow each joint angle of the robot hand.

A second feature of the present invention is a means for detecting the bending angle of each finger joint of the robot hand and the operator, and a calculation for calculating at least the position of the fingertip from the bending angle of each finger joint of the robot hand and the operator. apparatus,
A mapping operation device that receives the position (and direction) of the operator's fingertip as an input, and drives each joint axis drive mechanism of the robot hand with the output of the mapping operation device as a target value so that at least the position of the fingertip of the robot hand is This is a master / slave compatible operation control device for a robot hand, which is composed of a positioning device for following the movement.

[0006]

Since the present invention has taken the above-mentioned means, the bending angle of each knuckle of the operator is mapped and photographed by the detecting means, and the mapping information is applied to the mapping calculation device to perform the projective geometric analysis and calculated. Based on the numerical data, a tracking control operation of pattern recognition using so-called mapping is realized, which is input to a positioning device that follows and follows each joint angle of the robot hand to drive and operate each joint axis drive mechanism of the robot hand.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows three slave hands in this embodiment.
Degree of freedom, configuration diagram of each joint axis drive mechanism by belt drive system, Fig. 2 is a perspective view showing the data glove of the same master hand, Fig. 3 is a diagram explaining the operation procedure of the same system, and Fig. 4 is the name of the finger joint Is defined.

In the figure, α is a master / slave operation control device for the robot hand of this embodiment, A is the master hand,
B is a slave hand, PC is a map operation device, 1 is a glove, 2 is an optical fiber, 3 is a space sensor, 4 is a fingertip joint finger, 5 is an intermediate joint finger, 6 is a root joint finger, and DIP is the first. 1 joint, PIP is 2nd joint, MP is 3rd joint, 7 is 1st joint
Timing belt for joint, 8 for timing belt for second joint, 9 for harmonic drive servo motor (Har
monic Drive DC ServoMoto
r), 10 is the first joint axis, and 11 is the second joint axis.

C is a detection means, which is composed of a controller 12 having a calculation function, an I / O board 13, a photosensor 14 and a light emitting diode LED, and the image mapping device PC is A
A D / D converter 15, an interface 16, a central processing unit (CPU) 17, and a D / A converter 18, and D is a positioning device, which is a harmonic drive servomotor 9 for driving each joint axis drive mechanism 19, and a position as a calculation device. And a potentiometer 20 for outputting the direction. Reference numeral 21 is a thrust turning shaft of each joint shaft drive mechanism 19.

Since the specifications of this embodiment are such concrete embodiments, the operation procedure will be described below. As shown in FIG. 1, the finger joints DIP and PIP are driven by a harmonic drive servomotor 9 via timing belts 7 and 8. Using the data glove 1 shown in FIG. 2 for master input, each finger joint DI of the operator
The bending angles of P, PIP and MP can be measured from the amount of light passing through the optical fiber 2 attached to the data globe 1 through the 3 space sensor 3.

FIG. 3 shows an outline of the master / slave hand system. The finger joints DIP, PIP, MP angles of the operator collected by the data glove 1 are transferred from the data glove controller 12 via the interface 16 to the central processing unit 17 of the image processing unit PC.
The knuckles DIP, PIP, and MP angles of the slave hand B are fetched from the potentiometer 20 through the A / D converter 15 into the central processing unit 17 of the image processing unit PC. The command torque input to the joint shafts 10 and 11 of the slave hand B is transmitted to the harmonic drive servomotor 9 through the D / A converter 18.

In this embodiment, as shown in FIG. 4, the bending angles of the third joint MP and the second joint PIP are measured for each finger of the operator, and a total of 10 pieces of angle data are mapped at a sampling rate of 60 Hz. Can be transferred to. The bending angles of the third joint MP and the second joint PIP of the i-th finger counted from the thumb are θmi1 and θmi2 (i = 1 to 5),
The joint angle vector having these as elements is Θmi. Further, the j-th joint angle of the i-th finger of the slave hand B is set to θsij (i, j = 1 to 3), and the joint angle vector having three joint angles as elements is set to θsi.

Basically, since the master hand A and the slave hand B have different structures, the position (angle) command on the master hand A side is transmitted to the slave hand B side in the unilateral master / slave system as in this embodiment. When given, various mapping methods can be considered between the two. One of the simplest mapping operations is the joint angle vector Θ of the thumb, index finger, and middle finger.
It is considered that mi can be associated with the joint angle vector Θsi of the three fingers on the slave hand B side. In this case, the positioning device D may be configured based on the following control algorithm.

Τsij = kp (θmij−θsij)
(I = 1 to 3, j = 1 to 2) where kp is an appropriate feedback gain, τsij
Is the j-th joint axis 1 of the i-th finger of slave hand B
It represents the input torque to 0 and 11. Also, master hand A
The position vector Xmi of the fingertips of the thumb, forefinger, and middle finger in the work coordinate system set to the side 3 of slave hand B in the work coordinate system set to the slave hand B side.
In order to match the position vector Xsi of the fingertip of the book, the positioning device D based on the following control law may be configured.

[0015]

[Formula 1] However, Ms and hs are the inertia matrices of the slave fingers,
It represents the Coriolis force, gravity term, etc., and Jsi represents the Jacobian matrix. Kv and Kp are feedback gain matrices relating to velocity and position, respectively.

[0016]

As described above, according to the present invention, there is an advantage that the copying control operation using the mapping information can be executed without performing the complicated repetitive work by the inverse kinematics for the operation teaching of the robot multi-fingered hand.

[Brief description of drawings]

FIG. 1 is a front view showing a configuration example of each joint axis drive mechanism of a slave hand used in an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of the above master hand.

FIG. 3 is an operation procedure explanatory diagram showing an embodiment of the present invention.

FIG. 4 is an explanatory diagram that defines a knuckle name of a master hand and its bending angle used in the above.

[Explanation of symbols]

α ... Robot hand master / slave operation control device A ... Master hand B ... Slave hand C ... Detecting means D ... Positioning device PC ... Mapping operation device LED ... Light emitting diode DIP ... First joint PIP ... Second joint MP ... No. 3 joints 1 ... Data glove 2 ... Optical fiber 3 ... 3 Space sensor 4 ... Finger tip joint finger portion 5 ... Intermediate joint finger portion 6 ... Root joint finger portion 7 ... First joint timing belt 8 ... Second joint timing belt 9 Harmonic drive servo motor 10 ... 1st joint axis 11 ... 2nd joint axis 13 ... I / O board 14 ... Photo sensor 15 ... A / D converter 16 ... Interface 17 ... Central processing unit 18 ... D / A converter 19 ... Each Joint shaft drive mechanism 20 ... Potentiometer 21 ... Thrust swivel axis

Claims (2)

[Claims] 1. A motion control apparatus for a robot multi-fingered hand, means for detecting a bending angle of each knuckle of a robot hand and an operator, a mapping operation device for inputting each knuckle angle of the operator, and the mapping. A master / slave operation control of a robot hand, comprising a positioning device that drives each joint axis drive mechanism of the robot hand with the output of the arithmetic unit as a target value and follows each joint angle of the robot hand. apparatus 2. A robot multi-fingered motion control device, a means for detecting a bending angle of each knuckle of a robot hand and an operator, and a position of at least a fingertip from a bending angle of each knuckle of a robot hand and an operator. A calculation device for calculating, a mapping calculation device that receives at least the position of the fingertip of the operator, and a position of the fingertip of the robot hand by driving each joint axis drive mechanism of the robot hand with the output of the mapping calculation device as a target value. Master-slave operation control device for robot hands characterized by a positioning device that follows the direction