JP2006024150A - Operating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology of high versatility for reproducing a moderate operation reaction force in an operation piece. <P>SOLUTION: This operating device comprises: the operation piece operated by a person; an operation force detection means for detecting the operation force applied to the operation piece by the person; a means for detecting the speed of the operation piece; and a means for calculating a first speed by adding a speed variation calculated from acceleration caused by the detected operation force to the speed of the detected operation piece. This operating device also comprises: a means for determining a force in the opposite direction to the first speed; a means for calculating a second speed by adding the speed variation calculated from acceleration caused by the determined opposite force to the first speed and for setting the calculated second speed to be zero when the calculated second speed is in the opposite direction to the first speed; and an actuator for operating the operating piece so as to vary the speed of the operation piece to the second speed calculated by a second speed calculating means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a technique for controlling the position of an operator operated by a person by an actuator. In particular, the present invention relates to a technique for controlling an actuator so that good operability can be obtained by applying an appropriate reaction force (for example, response) from a manipulator to the man when an manipulator is applied to the manipulator.

For example, a technique for assisting human operation by moving an operation element operated by a person such as a steering wheel of an automobile by an actuator has been developed. With this type of technology, when a person applies an operating force to an operating element, the operating element can provide an appropriate reaction force to the person (hereinafter, referred to as an operating reaction force), resulting in good operability. Is known to be obtained. In particular, between the operating force that a person is applying to the controls and the resulting movement of the controls,
M · (d ² P / dt ² ) + D · (dP / dt) + K · P = Fh (1)
It is known that when the above relationship is established, a good feeling of operation is obtained for a person and operability is improved. Here, d ² P / dt ² is an acceleration vector of the operating element, dP / dt is a speed vector of the operating element, and P is a position vector of the operating element. M is a proportional matrix with respect to the acceleration of the operating element, and corresponds to the mass reproduced by the operating element. D is a proportional matrix with respect to the speed of the operation element, and corresponds to a viscosity coefficient reproduced by the operation element. K is a proportional matrix with respect to the position of the operation element, and corresponds to a spring constant matrix reproduced by the operation element. Fh is a human operation force vector.
A technique using the above knowledge is disclosed in Patent Document 1. The apparatus of Patent Document 1 includes a movable body that supports a heavy object and an actuator that moves the movable object, and an operation force that an operator applies to the movable body, and a movement of the heavy object that is realized by the operation force and the actuator. The output of the actuator is adjusted so that the above equation (1) holds.
According to Patent Document 1, the work of transporting heavy objects is roughly divided into a plurality of work stages, and at the time of positioning for moving a heavy object finely, the proportional coefficient M for acceleration is reduced while the proportional coefficient D for speed is increased. It is reported to be effective.
JP 2001-75649 A

The target position of the operating element that satisfies the relationship of the above-described equation (1) is calculated from the operating force applied by the person to the operating element and moved to the target position by the actuator. There is also a case where the operator responds sensitively to an unstable camera shake and amplifies human camera shake. When a fine operation is performed, the operational feeling is worsened and the operability is lowered.
Therefore, in the technique of Patent Document 1, in the stage of determining the position by finely moving the object, the operation reaction force is increased by increasing the proportional coefficient D with respect to the speed. However, this technology is based on the fact that heavy goods transportation work can be roughly divided into a plurality of work stages assumed in advance, and is effective when a series of operations are relatively fixed, such as heavy goods transportation work. However, there is a lack of versatility when applied to a controller for various other purposes.
The present invention solves the above problems. The present invention provides a highly versatile technique for reproducing an appropriate operation reaction force on an operator.

The present inventor has studied various reasons why good operability cannot be obtained even if the actuator is controlled so as to satisfy the relationship of the expression (1).
As a result, it is recognized that the frictional force existing in the natural world is not taken into account in the expression (1), and that the operational feeling when operating in an unnatural environment where there is no frictional force is reproduced. did. For example, when an object is transported and positioned at a predetermined position in a plane, a person operates using the frictional force in consideration of the frictional force acting on the object from the plane. In the method of controlling the actuator so as to satisfy the relationship of the expression (1), the friction force existing in the natural world is not taken into account, and the natural operation cannot be reproduced.
Even in actual work, frictional force may not work. When an object is transported and positioned at a predetermined position in free space, no frictional force acts. As soon as it is experienced, it is difficult for humans to perform positioning operations in an environment where frictional force does not work. In this case, if the relationship working in the environment where the frictional force acts can be reproduced, the operation becomes much more natural and simple.
In the method of controlling the position of the operation element by the actuator, it is difficult to reproduce the frictional force in the movement of the operation element. Rather, research has been conducted in the direction of eliminating frictional force, and very little research has been done on using frictional force.
The present inventors recognize that it is important to use frictional force in order to obtain a natural and good operability, and tackle the problem of reproducing frictional force that is difficult to handle. It came to be completed.

The frictional force makes the operability good or bad. When an object is transported and positioned at a predetermined position in a plane, natural and good operability can be obtained by reproducing an environment in which a dynamic friction force is acting. However, if the frictional force is reproduced in the operation of moving the stationary object slightly and positioning it at the target position, the operation becomes difficult. As is well known, the static friction coefficient is larger than the dynamic friction coefficient. When a stationary object is moved by applying a force greater than the static frictional force, the object moves beyond a slightly separated target position, and it is often difficult to position the object at the target position. A so-called stick-slip phenomenon occurs, and the frictional force deteriorates the operability when performing a fine operation. The frictional force that improves operability can be said to be a frictional force that does not cause a stick-slip phenomenon, for example.
Even if hardware that adds frictional force to the operation reaction force by providing a mechanical sliding resistance portion, a stick-slip phenomenon occurs, and simply good operability cannot be obtained.
The present inventor has overcome the above problem by utilizing the frictional force acting on the side that improves operability and eliminating the frictional force acting on the side that degrades operability.

  The present invention can be embodied in a device that assists the operation of the operator by a person by adjusting the operation of the operator using an actuator. This operating device is detected by an operator operated by a person, an operating force detecting means for detecting an operating force applied by the person to the operating element, a speed detecting means for detecting the speed of the operating element, and a speed detecting means. First speed calculation means for calculating the first speed by adding the speed change amount calculated from the acceleration caused by the operation force detected by the operation force detection means to the speed of the operation element, and the first speed calculation A counter force determining means for determining a force in the direction opposite to the first speed calculated by the means, and an acceleration caused by the counter force determined by the counter force determining means to the first speed calculated by the first speed calculating means. A second speed calculating means that calculates the second speed by taking into account the speed change amount to be calculated, and sets the calculated second speed to zero if the calculated second speed is in the opposite direction to the first speed; The speed of the operator is calculated by the second speed calculation means And an actuator for operating the operator to vary the second speed.

In the apparatus of the present invention, the acceleration that should occur due to the operating force is calculated from the operating force Fh. At this stage, the frictional force is not considered. By solving the acceleration from the equation (1), it is possible to calculate the acceleration that should occur due to the operating force.
In an environment where viscosity and spring force do not work, the acceleration (d ² P / dt ² ) can be obtained from the equation [M · (d ² P / dt ² ) = Fh]. Here, M corresponds to the mass of the object imitating the operator.
When the acceleration is known, the speed change amount after unit time can be calculated. By adding the speed change amount calculated from the acceleration to the current speed, the speed after the unit time can be calculated. This is the first speed calculated by the present invention.
In the present invention, the opposite force corresponding to the friction force is determined from the first speed. The opposite force is a force opposite to the first speed. The magnitude of the opposing force can be adjusted according to the operational feeling to be realized, and may be a fixed value. Alternatively, the size may be increased or decreased depending on the speed, position, moving direction, etc. of the operation element. If the first speed is zero, there is no direction in the first speed, so the counter force is zero. This does not mean that the static frictional force is made zero. This is because the first speed is a virtual speed when an opposite force such as a frictional force does not act.
In the present invention, a force opposite to the first speed is determined, and an acceleration generated by the opposite force is calculated. Here too, the acceleration can be determined from the equation [M · (d ² P / dt ² ) = opposite force]. Once the acceleration is known, the amount of speed change after a unit time due to the opposite force can be calculated. The speed after the unit time can be calculated by adding the speed change amount after the unit time due to the opposite force to the first speed. This is the second speed calculated in the present invention.
If the direction of the first speed and the direction of the second speed are opposite to each other, the second speed is corrected to zero. This is because the opposite force is assumed to calculate the influence of the frictional force, but the frictional force has no action to move in the opposite direction.
Finally, the actuator adjusts the operation of the operating element so that the speed of the operating element changes to the second speed calculated by the second speed calculating means. The operating element moves so that the speed changes from the speed detected by the speed detecting means to the second speed calculated by the second speed calculating means.
In the above description, the example in which the influence of the viscosity and the spring force on the speed is calculated until the first speed is calculated, and then the second speed is calculated using the opposite force. As shown in the examples described later, the second speed may be calculated using the opposite force and the viscosity without calculating the influence of the viscosity on the speed until the first speed is calculated. If necessary, the second speed may be calculated using the counter force, the viscosity, and the spring force without calculating the influence of the viscosity and the spring force on the speed until the first speed is calculated.

The first speed and the second speed calculated above will be described with reference to FIG. FIGS. 5A to 5D are graphs in which the horizontal axis represents the speed of the operating element and the vertical axis represents the opposite force. As shown in FIGS. 5A to 5D, the opposite force is opposite to the speed of the operation element, and the magnitude thereof is constant regardless of the speed of the operation element. If the speed of the operation element is zero, the opposite force is also zero.
5A to 5D, A in the figure indicates the current speed of the operator, B in the figure indicates the calculated first speed, and C in the figure indicates the calculated second speed. Is shown.
FIG. 5A shows a case where the operating element is moving and the current speed is relatively high. This corresponds to, for example, a situation where a person is operating the operation element greatly. Based on the operating force Fh, for example, the first speed B is calculated as shown in FIG. Since the first speed B is in the positive direction, the opposite force is in the negative direction, and the second speed C is calculated to be smaller than the first speed B. By determining the position of the manipulator using the second speed, the manipulator moves as if a dynamic friction force is acting. An operation reaction force in which a dynamic friction force acts on the operation element is given to a person who operates the operation element. The magnitude of the dynamic friction force reproduced at this time is equal to the magnitude of the opposite force.

  FIG. 5B shows a case where the operator is moving and the current speed and the first speed are relatively small. This corresponds to, for example, a situation where a person is operating the operation element in detail. As shown in FIG. 5B, when the calculated first speed B is small, the direction of the second speed may be opposite to the direction of the first speed B. Thus, when the direction of the first speed B and the direction of the second speed C are opposite to each other, the second speed is corrected to zero. If the second speed is not corrected to zero and the operating element is displaced based on the second speed before the correction, the operating element moves in the opposite direction to the direction operated by the person or the person is not operating. The controller starts to vibrate. In this apparatus, the second speed is corrected to zero, and the position of the operating element is determined using the second speed, so that the operating element moves as if a dynamic friction force or a static friction force is acting. An operation reaction force in which a dynamic friction force or a static friction force acts on the operation element is given to a person who operates the operation element.

FIG. 5C shows a case where the operating element is stopped and the operation force is relatively small. This corresponds to, for example, a situation where the user shakes when the operator stops the operation element. As shown in FIG. 5C, when the operating force is small, the calculated first speed B is small, so the direction of the second speed is opposite to the direction of the first speed B. Since the direction of the first speed B and the direction of the second speed C are opposite to each other, the second speed is corrected to zero. Since the current speed and the second speed are zero, the operation element is maintained so as not to be displaced. An operation reaction force in which a static frictional force acts on the operation element is given to the person who operates the operation element.
FIG. 5D shows a case where the operation element is stopped and the operation force is relatively large. This corresponds to a situation in which, for example, a manipulator that is stopped is started to move. As shown in FIG. 5D, when the operating force is large, the calculated first speed B is large, and therefore the direction of the second speed and the direction of the first speed B are the same. By determining the position of the manipulator using the second speed, the manipulator moves as if a dynamic friction force or a static friction force is acting.
As apparent from FIGS. 5C and 5D, when an operating force is applied to the operating element that is stopped so that the first speed and the second speed are calculated in the same direction, the operating element that is stopped is displayed. Can move. That is, when an operating force exceeding the opposite force is applied, the stopped operator can be moved, which means that the maximum static friction force reproduced by the operator is equal to the opposite force. In this operating device, the maximum static friction force reproduced in the movement of the operating element is equal to the dynamic friction force reproduced in the movement of the operating element. The maximum static frictional force and the dynamic frictional force are equal to the movement of the operation element, and a pseudo frictional force that is indistinguishable between the static frictional force and the dynamic frictional force is reproduced.

  In this device, a simple friction force that can assist a human operation, for example, a pseudo friction force that does not distinguish between a static friction force and a dynamic friction force can be reproduced in the motion of the operator. According to this apparatus, an appropriate operation reaction force can be generated in the operation element. For example, it is not necessary to switch the control law according to the operation state or the like, and it can be employed in various operation devices such as mechanical devices.

In the above apparatus, when the speed of the operating element changes from the speed of the operating element detected by the speed detecting means to the second speed calculated by the second speed calculating means, a displacement amount by which the operating element is displaced is calculated. It is preferable to further include a displacement amount calculating means for calculating. In this case, the actuator moves the operation element by the displacement amount calculated by the displacement amount calculation means.
In this apparatus, since the operation of the operation element is adjusted according to the position of the operation element, the pseudo friction force can be more accurately reproduced in the movement of the operation element.

  The present invention can also provide a method of assisting the operation of the operator by a person by moving the operator by an actuator. The method includes an operation force detection step for detecting an operation force applied to a manipulator by a person, a speed detection step for detecting a speed of the manipulator, and an operation force detection step based on the speed of the manipulator detected in the speed detection step. The first speed calculation step for calculating the first speed by taking into account the speed change amount calculated from the acceleration caused by the operating force detected in step 1, and the direction opposite to the first speed calculated in the first speed calculation step By adding the speed change amount calculated from the acceleration caused by the counter force determined in the counter force determination step to the counter force determination step for determining the force of the first force and the first speed calculated in the first speed calculation step The second speed is calculated, and if the calculated second speed is in the opposite direction to the first speed, the second speed is calculated by the second speed calculation step in which the second speed is zero and the actuator calculates the second speed. Changed to the speed calculated in the process Operating the operator to and an operation process.

  According to this method, a simple frictional force capable of assisting a human operation, for example, a pseudo frictional force having no distinction between a static frictional force and a dynamic frictional force can be reproduced in the movement of the operator. According to this method, an appropriate operation reaction force can be generated in the operation element. For example, it is not necessary to switch the control law according to the operation state or the like, and it can be employed in various operation devices such as mechanical devices.

The technique of the present invention is also embodied in a program for moving the position of an operator operated by a person using an actuator by an electronic computer. This program is based on the input operation force on the computer, the process of inputting the operation force applied by the person to the operation element, the process of inputting the operation element speed, and the input operation element speed. A first speed calculation process for calculating the first speed by adding a speed change amount calculated from the generated acceleration, and an opposite force determination process for determining a force opposite to the first speed calculated in the first speed calculation process. The second speed is calculated by adding the speed change amount calculated from the acceleration generated due to the opposite force determined in the opposite force determination process to the first speed calculated in the first speed calculation process. If the second speed is opposite to the first speed, the second speed calculation process for setting the calculated second speed to zero and the speed of the operator change to the second speed calculated by the second speed calculation process. Operation command to the actuator Is a program for executing an output process of outputting.
By causing the computer to execute this program, it is possible to reproduce a simple friction force that can assist human operations, for example, a pseudo friction force that does not distinguish between a static friction force and a dynamic friction force in the movement of the operator. An appropriate operation reaction force can be generated in the operation element. For example, it is not necessary to switch the control law according to the operation state or the like, and it can be employed in various operation devices such as mechanical devices.

  According to the present invention, a highly versatile technique for providing an appropriate operation reaction force to the operation element is provided, and a favorable operational feeling can be given to various operations.

First, the main features of the embodiments described below are listed.
(Mode 1) The work support device includes a gripping part gripped by an operator, a first actuator that displaces the gripping part in the x direction, a second actuator that displaces the gripping part in the y direction, and a gripping part in the z direction. A third actuator to be displaced is provided.
(Mode 2) The work support device includes a force sensor that measures the force applied by the operator to the grip portion. The force sensor distinguishes the force applied by the operator to the gripping part into six directions including the x direction, the y direction, the z direction, the x axis direction, the y axis direction, and the z axis direction. Can be detected.

Embodiments for carrying out the present invention will be described with reference to the drawings. In this embodiment, the technique of the present invention is applied to an apparatus for assisting a transport operation by an operator.
FIG. 1 shows an overall view of a device 2 (hereinafter abbreviated as a work assisting device) 2 that assists an operator of the present embodiment in carrying heavy objects. FIG. 2 shows an electrical configuration of the work assisting device 2.
The work assisting device 2 shown in FIGS. 1 and 2 is used in a process of assembling an instrument panel (hereinafter abbreviated as “instrument panel”) W of an automobile into a body (not shown) of the automobile at a manufacturing site of the automobile. . In this step, the operator performs an operation of conveying and positioning the instrument panel W in the automobile body and fixing it to the automobile body. The operator fixes the instrument panel W to the work auxiliary device 2, and conveys and positions it through the work auxiliary device 2. The work assisting device 2 allows the worker to transport the instrument panel W with a force required when transporting an object that is lighter than the instrument panel W.

  As well shown in FIG. 1, the work assisting device 2 includes a pair of fixed rails 8a and 8b, a first movable body 10 slidable along the longitudinal direction of the fixed rails 8a and 8b, and a first movable A second movable body 20 slidable along the longitudinal direction of the body 10 and a third movable body 30 slidable along the longitudinal direction of the second movable body 20 are provided. Hereinafter, the longitudinal direction of the fixed rails 8a and 8b is the x direction, the longitudinal direction of the first movable body 10 is the y direction, and the longitudinal direction of the second movable body 20 is the z direction. The x direction, the y direction, and the z direction are substantially orthogonal to each other. In addition, an instrument panel support 40 that can support the instrument panel W is attached to the third movable body 30. The instrument panel support 40 is provided with a fixing portion 46 for fixing the instrument panel W so as to be detachable. The work assisting device 2 is configured such that the third movable body 30 can freely move within a predetermined movable space, and the instrument panel W supported via the instrument panel support 40 can be freely moved. It is configured as follows.

As shown in FIGS. 1 and 2, the work auxiliary device 2 includes a first actuator 12 that slides the first movable body 10 along the x direction, and a second actuator that slides the second movable body 20 along the y direction. 22, a third actuator 32 is provided for sliding the third movable body 30 along the z direction.
The work assisting device 2 includes a force sensor 6 fixed to the third movable body 30 and a grip portion 4 that is provided on the force sensor 6 and is gripped by an operator. When the operator transports the instrument panel W via the work assisting device 2, the worker grips the grip portion 4 and transports the instrument panel W. The force sensor 6 is a sensor for detecting a conveying force (operating force) applied to the grip portion 4 by the operator, and the operator's operating force around the x direction, the y direction, the z direction, and the x axis. It is possible to detect by distinguishing the force in six directions including the direction, the direction around the y axis, and the direction around the z axis.
Although not shown in FIG. 1, the work assisting device 2 is a first position sensor 16 that detects the position of the first movable body 10 in the x direction, and a second position that detects the position of the second movable body 20 in the y direction. A sensor 26 and a third position sensor 36 that detects the position of the third movable body 30 in the z direction are provided.

The work assisting device 2 includes a control unit 60 that controls operations of the first, second, and third actuators 12, 22, and 32.
As well shown in FIG. 2, the control unit 60 includes a first driver 14 that operates the first actuator 12, a second driver 24 that operates the second actuator 22, and a third driver that operates the third actuator 32. 34 is provided. Further, the processing unit 62 that gives instructions to the first, second, and third drivers 14, 24, and 34, and the operator inputs instructions to the processing unit 62 and displays information from the processing unit 62 to the worker. The operation panel 64 is provided.
The force sensor 6 is connected to the processing unit 62, and an operation force applied to the grip unit 4 by an operator detected by the force sensor 6 is input to the processing unit 62. Further, the first, second, and third position sensors 16, 26, and 36 are connected to the processing unit 62, and the position of the first movable body 10 detected by the first position sensor 16 in the x direction, The y-direction position of the second movable body 20 detected by the two-position sensor 26 and the z-direction position of the third movable body 30 detected by the third position sensor 36 are input. The processing unit 62 can calculate the position P: (x, y, z) of the gripping unit 4 from the input positions of the first, second, and third movable bodies 10, 20, and 30. Further, the processing unit 62 determines the speed v: (dx / dt, dy / dt, dz / dt) of the gripping unit 4 and the acceleration a: (d ² ) of the gripping unit 4 from the change with time of the position coordinate P of the gripping unit 4. x / dt ² , d ² y / dt ² , d ² z / dt ² ) can be calculated.
Since the grip portion 4 and the instrument panel W are relatively fixed, the position P (x, y, z) of the grip portion 4, the speed v (dx / dt, dy / dt, dz / dt) of the grip portion 4, The acceleration a (d ² x / dt ² , d ² y / dt ² , d ² z / dt ² ) of the grip 4 corresponds to the position of the instrument panel W, the speed of the instrument panel W, and the acceleration of the instrument panel W, respectively.

The processing unit 62 can store a virtual mass M, a virtual viscosity coefficient D, a virtual elastic coefficient K, a pseudo frictional force value (opposite force value) f, and the like. The virtual mass M, the virtual viscosity coefficient D, the virtual elastic coefficient K, the pseudo frictional force value f, and the like are preset by an operator or the like, and are taught to the work auxiliary device 2 using the operation panel 64 or the like. be able to. In the work assistance device 2 of the present embodiment, the virtual elastic coefficient K is set to zero.
The processing unit 62 of the control unit 60 calculates and stores the operating force applied by the operator to the grip unit 4, the position P of the grip unit 4, the speed v of the grip unit 4, and the acceleration a of the grip unit 4. The target position at which the gripper 4 should be displaced is sequentially calculated using the virtual mass M, the virtual viscosity coefficient D, the virtual elastic coefficient K, the pseudo frictional force value f, etc., and the first, second and third Teach drivers 14, 24 and 34. The first, second, and third drivers 14, 24, and 34 are arranged so that the first, second, and third movable bodies 10, 20, and 30 are displaced to the taught positions. 3 Actuate the actuator. The work assisting device 2 operates so as to supplement the force applied by the operator to the grip portion 4 and displaces the instrument panel W together with the grip portion 4. The operator can transport the instrument panel W with the force as if transporting an object that is lighter than the instrument panel W.

Hereinafter, the process in which the processing unit 62 sequentially calculates the displacement amount of the gripping part 4 will be described in detail. FIG. 3 is a flowchart showing a flow of processing in which the processing unit 62 sequentially calculates the displacement amount of the gripping unit 4. The processing unit 62 repeatedly executes the arithmetic processing shown in the flowchart of FIG. 3 with the operation cycle Δt. Here, it is assumed that the virtual elastic coefficient K is set to zero.
In step S2, the position (x, y, z) of the grip portion 4 is calculated based on the outputs of the first, second, and third position sensors 16, 26, and 36. Hereinafter, the position of the grip portion 4 at time t is described as P (t), and the coordinates (x, y, z) of the grip portion 4 at that time are (x (t), y (t), z ( t)).
In step S4, the speed (dx / dt, dy / dt, dz / dt) of the grip portion 4 is calculated. The processing unit 62 determines the position P (t) of the gripper 4 calculated in step S2 of the current operation cycle and the position of the gripper 4 calculated in the previous operation cycle from the position change of the gripper 4 with time. From the position P (t−Δt), the speed of the grip portion 4 at the time t is calculated. Hereinafter, the speed of the gripping part 4 at time t is described as v (t), and the speeds of the gripping part 4 at that time in the x direction, y direction, and z direction are respectively v _x (t) and v _y (t). , V _z (t).
In step S <b> 6, based on the output of the force sensor 6, the operation force applied to the grip portion 4 by the operator is calculated. The processing unit 64 calculates and distinguishes at least components in the x direction, the y direction, and the z direction among the operating forces applied to the grip unit 4 by the operator. Hereinafter, the operating force applied to the gripper 4 by the operator at time t is described as F (t), and the components in the x, y, and z directions are respectively F _x (t) and F _y (t ), F _z (t).

In step S8, a stored acceleration a _c (t) is calculated. The stored acceleration a _c (t) is an acceleration due to a storage force. Conservative force refers to the force that can increase the energy of an object when it acts on an object, such as an operating force applied by a person or an elastic force applied by an elastic body, when that energy is stored in the object. . That is,
a _c (t) = (F (t) −K · P (t)) / M;
It becomes. When the components of the stored acceleration a _c (t) in the x, y, and z directions are a _cx (t), a _cy (t), and a _cz (t), respectively,
a _cx (t) = (F _x (t) −K _x · x) / M
a _cy (t) = (F _y (t) −K _y · y) / M
a _cz (t) = (F _z (t) −K _z · z) / M
It becomes. The stored acceleration a _c (t) is the sum of the acceleration caused by the operating force F (t) and the acceleration caused by the virtual elastic force K · P (t). In the work assistance device 2 of this embodiment, since the virtual elastic coefficient K is set to zero, the stored acceleration a _c (t) is equal to the acceleration generated due to the operating force F (t) and stored. The acceleration a _c (t) is proportional to the operating force F (t).
In step S10, using the stored acceleration a _c (t), the first speed v _c (t + Δt) of the grip portion 4 after the operation cycle Δt is calculated. That is,
v _c (t + Δt) = v (t) + a _c (t) · Δt;
It becomes. If the components of the first velocity v _c (t + Δt) in the x direction, y direction, and z direction are v _cx (t + Δt), v _cy (t + Δt), and v _cz (t + Δt), respectively.
v _cx (t + Δt) = v _x (t) + a _cx (t) · Δt
v _cy (t + Δt) = v _y (t) + a _cy (t) · Δt
v _cz (t + Δt) = v _z (t) + a _cz (t) · Δt
It becomes. The first speed v _c (t + Δt) is the calculated speed v (t) of the gripper 4 and the speed change amount calculated from the acceleration caused by the operating force F (t) or the virtual elastic force K · P. The amount of speed change calculated from the acceleration caused by (t) is taken into account. The first speed v _c (t + Δt) is equal to the speed of the object realized after the operation period Δt when the operating force F (t) is applied to the mass M object moving at the speed v (t). . The first speed v _c (t + Δt) is a speed that does not consider the frictional force or the viscous resistance force.

In step S12, the pseudo frictional force f (t) is determined. As shown in FIG. 4, the direction of the pseudo frictional force f (t) is determined to be opposite to the direction of the first speed v _c (t) of the grip portion 4. Further, the magnitude of the pseudo frictional force f (t) is set to the pseudo frictional force value f when the grip portion 4 is moving. That is, if the components of the pseudo frictional force f (t) in the x direction, y direction, and z direction are f _x (t), f _y (t), and f _z (t), respectively,
f _x (t) = − f · v _cx (t) / | v _c (t) |
f _y (t) = − f · v _cy (t) / | v _c (t) |
f _z (t) = − f · v _cz (t) / | v _c (t) |
It becomes. In addition,
| V _c (t) | = ((v _cx (t)) ² + (v _cy (t)) ² + (v _cz (t)) ² ) ^1/2
And
| F (t) | = ((f _x (t)) ² + (f _y (t)) ² + (f _z (t)) ² ) ^1/2
= F
It is.
On the other hand, if the calculated first speed v _c (t) is zero, the magnitude | f (t) | of the pseudo frictional force is set to zero. That is,
f _x (t) = f _y (t) = f _z (t) = 0
It is. This does not mean that the static friction force that the work assisting device 2 reproduces in the movement of the grip portion 4 is zero. The first speed v _c (t) is a virtual speed when there is no frictional force, and the pseudo frictional force f (t) at this stage is temporarily determined with respect to the first speed v _c (t). Is.

In step S14, the dissipation acceleration a _d (t) is calculated. The dissipation acceleration a _d (t) is an acceleration due to the dissipation force. The dissipative force refers to a force that cannot dissipate the energy of the object and increase the energy of the object when acting on the object, such as a viscous resistance force or a frictional force. Here, by the virtual viscosity coefficient D and the pseudo frictional force f (t),
a _d (t) = (− D · v (t) + f (t)) / M;
It becomes. If the components of the dissipation acceleration a _d (t) in the x direction, y direction, and z direction are a _dx (t), a _dy (t), and a _dz (t), respectively,
a _dx (t) = (− D · v _cx (t) + f _x (t)) / M
a _dy (t) = (− D · v _cy (t) + f _y (t)) / M
a _dz (t) = (− D · v _cz (t) + f _z (t)) / M
It becomes. The dissipation acceleration a _d (t) is the sum of a component proportional to the viscous resistance force and a component proportional to the pseudo frictional force f (t). If the viscosity coefficient D is set to zero, the dissipation acceleration a _d (t) is proportional to the pseudo frictional force f (t).
In step S16, using the first velocity v _c (t + Δt) obtained in step S10 and the dissipative acceleration a _d (t) obtained in step S14, the second velocity v _d ( t + Δt) is calculated. That is,
v _d (t + Δt) = v _c (t + Δt) + a _d (t) · Δt;
It becomes. When the components of the second velocity v _d (t + Δt) in the x direction, y direction, and z direction are v _dx (t + Δt), v _dy (t + Δt), and v _dz (t + Δt), respectively.
v _dx (t + Δt) = v _cx (t + Δt) + a _dx (t) · Δt
v _dy (t + Δt) = v _cy (t + Δt) + a _dy (t) · Δt
v _dz (t + Δt) = v _cz (t + Δt) + a _dz (t) · Δt
It becomes. The second speed v _d (t + Δt) applies the operating force F (t) to the mass M object moving at the speed v (t), and the viscous resistance force D · v _c (t) and the pseudo friction force f ( When a force equal to t) is acting, it is equal to the speed of the object realized after the movement period Δt. At this time, for example, if the first speed v _c (t + Δt) is small, the first speed v _c (t + Δt) and the second speed v _d (t + Δt) may be calculated in opposite directions. In general, viscous resistance force and friction force act in the opposite direction to the speed of the object to reduce the speed of the object, but there is no action to reverse the speed of the object. In the present embodiment, the results of steps S18 and S20 described below lead to a result in which the viscous resistance force D · v _c (t) and the pseudo friction force f (t) reverse the speed. Ban.

In step S18, the first speed v _c (t + Δt) obtained in step S10 and the second speed v _d (t + Δt) obtained in step S16 are as follows.
v _cx (t + Δt) · v _dx (t + Δt) <0 (zero);
v _cy (t + Δt) · v _dy (t + Δt) <0 (zero);
v _cz (t + Δt) · v _dz (t + Δt) <0 (zero);
It is determined whether or not. Here, since the first speed v _c (t + Δt) and the second speed v _d (t + Δt) are in opposite directions, the above three formulas satisfy the other two formulas when any one formula is met. It has become a relationship. If yes in this step, the process proceeds to step S20, and if no, the process proceeds to step S22.
In step S20, the second speed v _d (t + Δt) obtained in step S16 is rewritten as zero in the x, y, z direction in the direction that is determined to be yes in step S18. For example, in the x direction, if it is determined that v _cx (t + Δt) · v _dx (t + Δt) <0, the second speed v _dx (t + Δt) = 0 (zero) is rewritten. The same process is performed for the other y and z directions, and the second velocity v _d (t + Δt) is set to zero.

The work assisting device 2 performs first to third so that the speed of the gripping unit 4 changes to the second speed v _d (t + Δt) calculated in step S18 by the processes of steps S22 and S24 described below. The drivers 14, 24 and 34 are operated.
In step S22, the second speed v _d (t + Δt) determined in the above-described process is used as the speed of the grip part 4 after the operation period Δt, and the position P (t + Δt) at which the grip part 4 should be displaced before the operation period Δt. ) Is calculated. For example,
P (t + Δt) = P (t) + (v (t) + v _d (t + Δt)) · Δt / 2;
And can be calculated. Expressed for each x, y, z coordinate:
P _x (t + Δt) = P _x (t) + (v _x (t) + v _dx (t + Δt)) · Δt / 2
P _y (t + Δt) = P _y (t) + (v _y (t) + v _dy (t + Δt)) · Δt / 2
P _z (t + Δt) = P _z (t) + (v _z (t) + v _dz (t + Δt)) · Δt / 2
It becomes. The above formula is obtained when an object moving at the speed P (t) at the time t at the speed v (t) is moving at the second speed v _d (t) at the time t + Δt. This is an example of an expression for calculating a position P (t + Δt) where can exist.
In step S24, the displacement amount of the gripper 4 is calculated for each of the x, y, and z directions from the current position P (t) and the position P (t + Δt) calculated in step S22. Teach the third driver 14, 24, 34.
The processing unit 62 returns to step S2 again, and repeatedly executes the above arithmetic processing with the operation cycle Δt. In step S2, the position P (t + Δt) of the grip part 4 calculated in step S22 may be used instead of detecting the current position of the grip part 4. In Step S4, the second speed v _d (t + Δt) calculated in Steps S16 to S20 may be used instead of calculating the speed of the grip portion 4.
In the present embodiment, at the stage until the first speed is calculated, the influence of the virtual elastic force, which is a conserving force, on the speed is taken into account, and then the virtual viscous resistance force and the pseudo friction force, which are the dissipating force, are used. The example which calculates 2 speed was demonstrated. Not limited to this, the virtual elastic force may be added at the stage of calculating the second speed without considering the influence of the virtual elastic force on the speed at the stage until the first speed is calculated. Alternatively, the influence of the virtual elastic force or virtual viscous resistance force on the speed may be taken into consideration until the first speed is calculated, and only the pseudo friction force may be taken into consideration at the stage of calculating the second speed.

With reference to FIG. 5, a description will be given of the movement realized by the gripper 4 when the operator applies an operating force F to the gripper 4. FIGS. 5A to 5D are graphs in which the horizontal axis represents the speed of the gripping unit (operation unit) 4 and the vertical axis represents the pseudo frictional force (opposite force). As shown in FIGS. 5A to 5D, the pseudo friction force is in the opposite direction to the first speed v _c (t + Δt), and the magnitude thereof is equal to the pseudo friction force value f. Further, when the first speed v _c (t + Δt) is zero, the pseudo frictional force is given as zero. In the speed range shown in FIG. 5, the viscous resistance force is sufficiently small with respect to the pseudo friction force, and the viscous resistance force can be ignored. That is, the graph shown in FIG. 5 is substantially equal to the graph showing the relationship between the speed of the gripping portion 4 and the dissipative force obtained by adding the pseudo friction force and the viscous resistance force.
5A to 5D, A in the drawing indicates the speed v (t) of the grip portion 4 detected in step S <b> 4 of FIG. 3. B in the figure indicates the first speed v _c (t + Δt) calculated in step S10 of FIG. C in the figure indicates the second speed v _d (t + Δt) calculated in step S16 in FIG.

FIG. 5A shows a case where the grip portion 4 is moving and the speed v (t) is relatively high. This corresponds to, for example, a situation in which the operator greatly operates the grip portion 4 and transports the instrument panel W. Since the first speed v _c (t + Δt) and the second speed v _d (t + Δt) are in the same direction (No in step S18), the position of the gripper 4 is the second speed v _d (t + Δt) indicated by point C. To be determined (step S22). The gripper 4 moves in the same manner as an object of mass M on which the operating force F and the dynamic friction force f are applied, and the operator who operates the gripper 4 to transport the instrument panel W receives the dynamic friction force f on the instrument panel W. An operational reaction force is applied as if.
FIG. 5B shows a case where the grip portion 4 is moving and the speed v (t) and the first speed v _c (t + Δt) are relatively small. This corresponds to, for example, a situation where the operator finely operates the grip portion 4 and positions the instrument panel W. Since the first velocity _v c (t + _Δt) and the second velocity _v d (t + _Δt) are opposite to each other, the second velocity _v d calculated in step S16 (t + Δt), are corrected to zero at step S20. The grip portion 4 moves so that an object of mass M on which the operation force F or the dynamic friction force f acts is stopped by the static friction force, and operates the grip portion 4 to convey the instrument panel W to an operator. An operation reaction force is applied to the instrument panel W such that a dynamic friction force f or a static friction force acts on the instrument panel W.

FIG. 5C shows a case where the grip portion 4 is stopped and the operation force F is relatively small. This corresponds to, for example, a situation where the operator is shaking when the gripper 4 is stopped. When the operating force F is small, the first speed v _c (t + Δt) is small, so the second speed v _d (t + Δt) is obtained in the opposite direction to the first speed v _c (t + Δt). Since the first velocity _v c (t + _Δt) and the second velocity _v d (t + _Δt) are opposite to each other, the second velocity _v d calculated in step S16 (t + Δt), are corrected to zero at step S20. Since the current speed v (t) and the second speed v _d (t + Δt) are zero, the grip portion 4 is maintained so as not to be displaced. An operator who holds the grip portion 4 and stops the instrument panel W is given an operation reaction force in which a static frictional force acts on the grip portion 4. FIG. A case where the operation force F is relatively large is shown. This corresponds to a situation in which, for example, the operator starts moving the holding unit 4 that is stopped, and starts transporting the instrument panel W. When the operating force F is large, the first speed v _c (t + Δt) is large, so the second speed v _d (t + Δt) is obtained in the same direction as the first speed v _c (t + Δt). The gripper 4 moves in the same manner as an object of mass M that starts to move when a force exceeding the maximum static frictional force is applied, and the operator who operates the gripper 4 to transport the instrument panel W has a maximum rest in the instrument panel W. An operation reaction force is applied as when the operation force F is applied beyond the friction force f.
As is apparent from FIGS. 5C and 5D, the first speed v _c (t + Δt) and the second speed v _d (t + Δt) are calculated in the same direction on the grip unit 4 that is stopped. When the force F is applied, the stopped grip portion 4 can be moved. That is, when the operating force F exceeding the pseudo friction force f is applied, the stopped operating element can be moved, and the maximum static friction force reproduced in the grip portion 4 is equal to the pseudo friction force f. Means. In the work assistance device 2, the magnitude of the maximum static friction force reproduced in the movement of the grip portion 4 is equal to the magnitude of the dynamic friction force reproduced in the movement of the operator.

  FIG. 6 shows that the instrument panel W is transported and positioned from the storage position of the instrument panel W to the assembly position where the instrument panel W is assembled to the automobile body using the work auxiliary device 2, and the operation reaction force and instrument panel W at that time are It is the graph which measured the relationship of speed. In the graphs of FIGS. 6A and 6B, the horizontal axis indicates time, the left vertical axis indicates the operation reaction force, and the right vertical axis indicates the speed of the instrument panel W. FIG. 6A shows the measurement result when the pseudo frictional force value f is given. A broken line 92a in FIG. 6A indicates the measured operation reaction force (response that the operator feels). A solid line 92b in FIG. 6A indicates the measured speed of the instrument panel W. On the other hand, FIG. 6B shows a measurement result when the pseudo frictional force value f is set to zero. A broken line 94a in FIG. 6B indicates the measured operation reaction force. A solid line 94b in FIG. 6B indicates the measured speed of the instrument panel W. In FIG. 6A, the operation reaction force is always a positive value, and the work assisting device 2 reproduces the pseudo frictional force f (t), thereby giving a stable response to the worker. I can confirm. On the other hand, as shown in FIG. 6B, when the pseudo frictional force value f is set to zero, the operation reaction force is opposite to the speed in the latter half of the transfer operation (positioning stage). If it becomes such a relationship, an operator will feel the feeling dragged by the instrument panel W, and it will become operativity with a sense of incongruity.

In the work assistance device 2, the stored pseudo frictional force value f may be changed based on the position of the gripper 4, the moving direction of the gripper 4, or the operator's operation.
FIG. 7 shows the movable range 100 in the x and y directions of the work assisting device 2. The operator uses the work auxiliary device 2 to transport the instrument panel W from the storage position S to the assembly position G.
First, the operator moves the instrument panel support 40 to the vicinity of the storage position S in order to fix the instrument panel W to the instrument panel support 40. At this time, the grip portion 4 is located within the range 102 in FIG. When the grip portion 4 is positioned in the range 102, for example, the set pseudo frictional force value f is used as it is. Thereby, when the operator operates the grip portion 4, a stable operation reaction force (hand feel) is obtained regardless of the operating direction, and the instrument panel support 40 can be easily brought close to the instrument panel W to be fixed.
After fixing the instrument panel W to the instrument panel support 40, the operator moves the instrument panel W greatly in the x direction. At this time, the gripper 4 moves in the x direction within the range 104 of FIG. Therefore, when the grip portion 4 is located in the range 104, for example, the larger the angle formed between the direction of the calculated first speed v _c (t + Δt) and the x direction, the larger the pseudo frictional force value f is corrected. . Thereby, when the operator operates the grip portion 4, it is possible to give an operational feeling that it is easy to move in the x direction and difficult to move in other directions. An operator can obtain an operational feeling as if the instrument panel W is transported on a rail along the x direction, and the operator can easily transport the instrument panel W in the x direction.

After the instrument panel W is transported in the x direction, the operator changes the transport direction from the x direction to the y direction in order to move the instrument panel W in the y direction toward the assembly position G. At this time, the grip portion 4 is located within the range 106 of FIG. When the grip portion 4 is positioned within the range 106, for example, the pseudo frictional force value f set similarly to the range 102 is used as it is. Thereby, the operator can easily change the conveyance direction of the instrument panel W.
After changing the conveyance direction of the instrument panel W, the operator greatly moves the instrument panel W toward the assembly position G in the y direction. At this time, the gripper 4 moves in the y direction within the range 108 of FIG. Therefore, when the grip portion 4 is positioned in the range 108, for example, the larger the angle formed between the direction of the calculated first speed v _c (t + Δt) and the y direction, the larger the pseudo frictional force value f is corrected. . Thereby, when the operator operates the grip portion 4, it is possible to give an operational feeling that it is easy to move in the y direction and difficult to move in other directions. An operator can obtain an operational feeling as if the instrument panel W is transported on a rail along the y direction, and the operator can easily transport the instrument panel W in the y direction.
After conveying the instrument panel W to the vicinity of the assembly position G, the operator positions the instrument panel W to the assembly position of the automobile body. At this time, the grip portion 4 is located within the range 110 in FIG. Therefore, when the grip portion 4 is located in the range 110, the pseudo frictional force value f may be adjusted by an operator's operation, for example. For example, the pseudo frictional force value f is increased in proportion to the force around the z axis detected by the force sensor 6. Thereby, the operator can adjust the operation reaction force by operating the grip portion 4 to twist. When performing a fine operation during the positioning operation, for example, if the operation is performed so as to increase the pseudo frictional force value f so as to suppress camera shake strongly, positioning is facilitated.
In the above transfer work, the grip portion 4 is not located within the range 112 in FIG. 7 in the movable range 100 of the work assisting device 2. Therefore, when the grip portion 4 is positioned in the range 112, for example, the pseudo frictional force value f may be greatly corrected. At this time, the correction may be made only when the moving direction of the grip portion 4 is a direction further entering the range 112. Thereby, when the grip portion 4 is out of the range 102 to 110, a strong operation reaction force is felt, and when the grip portion 4 returns to the range 102 to 110, an appropriate operation reaction force is felt. I feel as if there are walls around 102-110. It is possible to prevent the grip portion 4 from being out of the range 102 to 110, and it is possible to prevent the instrument panel W from being transported to an unexpected position.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
Although the example which applied the technique of this invention to the apparatus which assists the operation | work which conveys a heavy article was shown above, the technique of this invention is applicable to other various apparatuses. Taking an automobile as an example, the present invention is widely applicable to, for example, a power steering device, a pedal device, a reduction ratio shift lever device, and an operation device including an operator operated by a person. Further, the power steering device, pedal device, and the like to which these are applied are not limited to those installed in an actual automobile, but can also be applied to an operation device installed in a game device or the like that simulates driving of an automobile.
In the above description, the case where the virtual elastic force is added to the calculation of the first speed has been described. When the virtual elastic force is taken into account, the virtual elastic force is proportional to the amount of displacement with respect to the reference position, and the direction acting on the reference position is reversed. Therefore, the virtual elastic force is calculated at the stage of calculating the first and second velocities. It is also possible to calculate the position to be displaced without taking into account, determine whether the calculated position to be displaced and the current position straddle the reference position, and adjust the virtual elastic force for consideration. .
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

The figure which shows the external appearance of a conveyance work assistance apparatus. The block diagram which shows the structure of a conveyance work assistance apparatus. The flowchart which shows the flow of a process of a conveyance work assistance apparatus. The figure explaining the relationship between the direction of 1st speed and pseudo frictional force (opposite force). The figure explaining the relationship between a detection speed, 1st speed, and 2nd speed. The figure which shows the relationship between the operation reaction force at the time of the conveyance work by a work auxiliary device, and conveyance speed. The figure which illustrates the movable range of xy direction of a work auxiliary device.

Explanation of symbols

2 .. Work auxiliary devices 8a, 8b .. Fixed rails 10, 20, 30 .. First, second and third movable bodies 12, 22, 32 .. First, second and third actuators 14, 24,. 34..First, second and third drivers 16, 26, 36..First, second and third position sensors 60..Control unit 62..Processing unit 64..Operation panel

Claims (6)

An operator operated by a person,
An operation force detecting means for detecting an operation force applied by a person to the operation element;
Speed detecting means for detecting the speed of the operator;
First speed calculating means for calculating the first speed by adding the speed change amount calculated from the acceleration caused by the operating force detected by the operating force detecting means to the speed of the operating element detected by the speed detecting means. When,
An opposite force determining means for determining a force opposite to the first speed calculated by the first speed calculating means;
The second speed is calculated by adding the speed change amount calculated from the acceleration generated due to the counter force determined by the counter force determining means to the first speed calculated by the first speed calculating means, and calculating the calculated second speed. If the second speed is opposite to the first speed, a second speed calculating means for setting the calculated second speed to zero,
An actuator for operating the operating element so that the speed of the operating element changes to the second speed calculated by the second speed calculating means;
An operating device comprising: Displacement calculation for calculating a displacement amount of the operation element when the speed of the operation element changes from the speed of the operation element detected by the speed detection means to the second speed calculated by the second speed calculation means. Further comprising means,
The operation device according to claim 1, wherein the actuator moves the operation element by a displacement amount calculated by a displacement amount calculation unit. An operator operated by a person,
It has an actuator that moves a manipulator operated by a person,
An actuator realizes the movement of an object that occurs when a force applied by a person to the operating element is applied to an object to which a pseudo frictional force acts on the movement of the operating element. An operation force detection step for detecting an operation force applied by a person to the operation element;
A speed detection step for detecting the speed of the operator;
A first speed calculation step for calculating a first speed by adding a speed change amount calculated from the acceleration generated due to the operation force detected in the operation force detection step to the speed of the operation element detected in the speed detection step. When,
An opposite force determination step for determining a force opposite to the first velocity calculated in the first velocity calculation step;
The second speed is calculated by adding the speed change amount calculated from the acceleration generated due to the counterforce determined in the counterforce determination process to the first speed calculated in the first speed calculation step, If the second speed is opposite to the first speed, a second speed calculation step in which the second speed is zero;
An operation step of operating the manipulator so that the speed of the manipulator changes to the speed calculated in the second velocity calculating step by the actuator;
A method for adjusting the operation of an operator comprising: It is a method of adjusting the operation of the operator operated by a person with an actuator,
What is claimed is: 1. A method of adjusting an operation of an operating element, comprising: realizing the movement of an object generated when a force applied by a person to the operating element is applied to an object to which a pseudo frictional force is applied to the movement of the operating element by an actuator. It is a program for adjusting the operation of the operator operated by a person with an actuator.
A process of inputting an operation force applied by a person to an operation element;
Processing to input the speed of the control;
A first speed calculation process for calculating a first speed by adding a speed change amount calculated from an acceleration caused by the input operation force to the input speed of the operator;
An opposite force determination process for determining a force opposite to the first speed calculated in the first speed calculation process;
The second speed is calculated by adding the speed change amount calculated from the acceleration generated due to the opposite force determined in the opposite force determination process to the first speed calculated in the first speed calculation process. If the second speed is opposite to the first speed, a second speed calculation process that sets the calculated second speed to zero;
An output process for outputting an operation command to the actuator so that the speed of the operator changes to the second speed calculated in the second speed calculation process;
A program that executes

Images