JP2006192564A - Working auxiliary device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique for assisting a work in which trajectory of a treatment implement for a working object is regarded as important. <P>SOLUTION: The working auxiliary device is used to adjust the position and the attitude of the treatment implement following the human's operation to assist the operation of the human who executes the treatment for a predetermined place of the working object. The working auxiliary device is equipped with: an operation force detection means for detecting the operation force which is applied to the treatment implement by the human; a motion calculation means for calculating the position and the attitude of the treatment implement appeared after a predetermined time when the operation force detected by the operation force detection means is applied to the treatment implement model wherein the moving direction of a portion having a predetermined positional relationship with respect to the treatment implement is restricted in the predetermined direction determined by the attitude of the treatment implement; and an actuator for adjusting the position and the attitude of the treatment implement after the predetermined time to the position and the attitude calculated by the motion calculation means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a technique for assisting a person who performs processing on a predetermined portion of a work object. In particular, the present invention relates to a technique for assisting a person who performs a process on a predetermined portion of a work object by adjusting the position and posture of a processing tool used for performing the process so as to follow a human operation.

  A technique has been developed that assists human work by changing the position and posture of a processing tool with an actuator so as to follow a human operation. In this type of technology, if the relationship of the following formula (1) is established between the operation force applied to the processing tool by the person and the movement of the processing tool realized as a result, the person is good. It is known that an operational feeling can be obtained and workability is improved.

Here, q is a vector of the position and orientation of the processing tool, d ² q / dt ² is its second order derivative, and dq / dt is the first order derivative. M is a proportional matrix with respect to the acceleration of the processing tool, and corresponds to the mass reproduced on the processing tool. D is a proportional matrix with respect to the speed of the processing tool, and corresponds to the viscosity coefficient reproduced in the processing tool. K is a proportional matrix with respect to the position of the processing tool, and corresponds to a spring constant matrix reproduced on the processing tool. f 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, an actuator that moves the movable body, and a controller that controls the actuator. The controller adjusts the output of the actuator so that the above equation (1) is established between the operating force applied by the operator to the movable body and the motion of the heavy object realized by the operating force and the actuator. For the movement of the heavy object to be realized, the movement of the transported object model whose movement characteristics are described by the above equation (1) is realized. Patent Document 1 reports that it is effective to roughly divide the work of transporting heavy objects into a plurality of work stages and to switch the coefficients M, D, and K in the above equation (1) for each work stage. .
JP 2000-84881 A

In the case where processing is performed on a predetermined portion of the work object, there are many operations in which the trajectory of the processing tool with respect to the work object is important. In work where the trajectory of the processing tool with respect to the work object is important, if the operator uniformly assists the operation applied to the treatment tool in all directions, the trajectory of the processing tool with respect to the work object should be realized as intended. It becomes difficult. If not only the operation along the trajectory but also the operation deviating from the trajectory is assisted, the trajectory of the processing tool for the work object cannot be realized as intended. In the prior art, it is difficult to assist the work in which the trajectory of the processing tool is important.
For example, an operation for applying an adhesive along a peripheral edge is required for an automobile window glass. When working with the window glass fixed, the operator must make a round around the window glass. The window glass of an automobile is large, and the load on the worker becomes high if the rounding operation is repeated. Therefore, it is advantageous to apply an adhesive along the periphery while rotating the window glass. A tool required for processing (for example, a gun for discharging an adhesive) may be heavy. In this case, it is necessary to adjust the position and posture of the processing tool with an actuator.
As exemplified above, a technique for adjusting the position and posture of a processing tool with an actuator is required to perform a process of performing processing on a predetermined portion of a work object rotating in a work space. Yes. At this time, an industrial robot system in which the position and orientation of the processing tool are completely adjusted by an actuator is frequently used. However, in this system, the cost increases in the case of multi-product mixed production. If you can combine the superior capabilities of humans and the power of robots, it will be possible to produce excellent quality products with high productivity. There is a need for a system that enables human-machine collaboration.
That is, in order to assist the work of a person who performs processing on a predetermined part of the work object rotating in the work space, the actuator for adjusting the position and posture of the processing tool is controlled to follow the human operation. There is a need for a work assist technique that adjusts the position and orientation of the processing tool. This technique also requires a technique in which the trajectory of the processing tool with respect to the work target matches the intended trajectory well by adjusting the position and posture of the processing tool following a human operation.
The present invention solves the above problems. The present invention provides a technique for assisting work in which the trajectory of the processing tool with respect to the work object is important. In particular, the present invention provides a technique that brings about a result that the trajectory of the processing tool with respect to the work object obtained by controlling an actuator that adjusts the position and posture of the processing tool closely matches the trajectory intended by the operator.

  The present invention can be embodied in a work assisting device that adjusts the position and posture of a processing tool following a human operation in order to assist a person who performs a process on a predetermined portion of a work target. . This apparatus has an operation force detection means for detecting an operation force applied to a processing tool by a person, and an operation force detected by the operation force detection means with a moving direction of a part having a predetermined positional relationship with respect to the processing tool. A motion calculation means for calculating the position and orientation of the processing tool appearing after a predetermined time when added to the processing tool model regulated in a predetermined direction determined from the attitude of the processing tool, and the position of the processing tool after the predetermined time An actuator for adjusting the posture to the position and posture calculated by the motion calculation means is provided.

For example, when working with an application roller for applying paint, it moves easily when a force is applied in the rolling direction of the application roller, whereas it does not move easily even when a force is applied in a direction perpendicular thereto. That is, the moving direction of the processing tool is restricted to a predetermined direction determined from the posture of the processing tool.
The motion calculation means of the present invention uses a processing tool model in which the moving direction of the processing tool is regulated in a predetermined direction determined from the posture of the processing tool, and calculates the motion that occurs when operating force is applied to the processing tool. Then, the position and orientation of the processing tool appearing after a predetermined time are calculated.
However, the processing tools are wide, and there is room for selection in a region where the moving direction of the processing tools is determined from the posture of the processing tools. A processing tool model in which the moving direction of a virtual part located outside the processing tool is determined from the posture of the processing tool may be used.
While using a processing tool model in which the moving direction of a part having a predetermined positional relationship with respect to the processing tool is regulated in a direction determined from the posture of the processing tool, the movement is allowed to be efficiently assisted in the direction allowed. Unassisted results are achieved in directions where movement is not permitted.
Using a processing tool model in which the moving direction of a part in a predetermined positional relationship with respect to the processing tool is regulated in a direction determined from the posture of the processing tool, the movement is efficiently assisted in the direction in which movement is allowed, while the movement Experiments with devices that are not assisted in directions that are not permitted, have confirmed that the operator can easily move the processing tool along a predetermined trajectory of the desired work target.
According to the work assistance device of the present invention, it is easy to obtain a result of the actuator moving the processing tool along a trajectory on the work target desired by the worker.

As described above, the processing tool is widened, and there is room for selection in a region where the moving direction of the processing tool is determined from the posture of the processing tool.
In one model, it is assumed that the moving direction of the processing part of the processing tool is restricted to a predetermined direction determined from the posture of the processing tool.
The processing part here means a part in the processing tool for performing processing on the work object, for example, the position of the opening of the adhesive discharge nozzle.
When this model is used, when the operator operates the processing tool, work assistance is performed that results in the processing part of the processing tool moving only in a direction determined from the posture of the processing tool. It is easy to move the processing part of the processing tool along the target trajectory.

Alternatively, a model may be used in which the moving direction of a part offset by a predetermined distance in a predetermined direction from the processing part of the processing tool is regulated in a direction determined from the posture of the processing tool.
To illustrate this metaphorically, it corresponds to working with a processing tool having a processing part at the rear wheel position of a carriage having a front wheel with a fixed direction and a rear wheel whose direction rotates freely. To do. The processing tool can move only in the direction of the front wheel at a position offset by a predetermined distance in the predetermined direction from the processing site existing at the rear wheel position.
When this model is used, a phase difference is generated between the change in the posture of the processing tool and the change in the movement direction of the processing part of the processing tool. Even when the curvature of the target trajectory changes greatly due to the phase difference, the operator can easily move the processing part of the processing tool along the target trajectory.

Alternatively, a model may be used in which the moving direction of a part that is in a predetermined positional relationship with respect to the processing tool changes after a change in the posture of the processing tool.
To illustrate this metaphorically, it corresponds to using a trailer type processing tool. Even if a cart with driving force changes its direction, the direction of the towed cart does not change immediately. The movable direction of the towed truck rotates with a delay.
When this model is used, work assistance is performed that produces results obtained when working with a processing tool having a processing site on the side of the trolley to be pulled. Also in this case, a phase difference can be generated between the change in the posture of the processing tool and the change in the movement direction of the processing part of the processing tool. Even when the curvature of the target trajectory changes greatly due to the phase difference, the operator can easily move the processing part of the processing tool along the target trajectory.

When using a model in which the moving direction of a part having a predetermined positional relationship with respect to the processing tool changes later than the change in the posture of the processing tool, the higher the change rate of the posture of the processing tool, the more the processing tool On the other hand, it is preferable that the angle difference between the moving direction of the part in a predetermined positional relationship and the posture of the processing tool is large.
Using this model, the operator can adjust the phase difference generated between the change in the posture of the processing tool and the change in the movement direction of the processing part of the processing tool by an operation applied to the processing tool. . Thereby, even when the curvature of the target trajectory changes greatly, the operator can easily move the processing part of the processing tool along the target trajectory.

When using a model in which the moving direction of a part that is in a predetermined positional relationship with respect to the processing tool changes using a model that changes later than the change in the posture of the processing tool, the motion calculation means uses the detected operating force to It is preferable to calculate the position and orientation of the processing tool by adding a torque obtained by multiplying the angle difference between the moving direction of the part having a predetermined positional relationship and the posture of the processing tool by a predetermined coefficient.
In this work assistance device, when an operator performs an operation to change the posture of the processing tool, the worker can feel a reaction force against the posture change from the processing tool. The operator can know the angular difference between the moving direction of the part having a predetermined positional relationship with the processing tool and the posture of the processing tool by the reaction force received from the processing tool. Even when the curvature of the target trajectory changes greatly, the operator can easily move the processing part of the processing tool along the target trajectory.

The predetermined coefficient for calculating the torque is preferably set to be smaller as the angular difference is larger.
For example, when the curvature of the target trajectory is large, the operator needs to greatly change the posture of the processing tool. In a state where the posture of the processing tool is greatly changed, the angle difference between the moving direction of the part having a predetermined positional relationship with the processing tool and the posture of the processing tool becomes large. In this case, it is possible to prevent an excessive reaction force from being applied to the operator by setting a coefficient to be multiplied by the angle difference described above. On the other hand, for example, when the target locus is a straight line, the operator needs to finely manipulate the posture of the processing tool in order to keep the posture of the processing tool constant. In the state where the posture of the processing tool is finely manipulated, the above-described angle difference becomes extremely small. In this case, by setting a large coefficient for calculating the torque, a reaction force having a magnitude that can be obtained by the worker can be given to the worker.
According to this work assistance device, an appropriate reaction force is given to the worker according to the curvature of the target trajectory. Even when the curvature of the target trajectory changes greatly, the operator can easily move the processing part of the processing tool along the target trajectory.

Preferably, the motion calculation means calculates the position and orientation of the processing tool by adding a predetermined force along the moving direction of the portion having a predetermined positional relationship with respect to the processing tool to the detected operating force.
In this work assisting device, the processing tool actively moves in the moving direction of the part having a predetermined positional relationship with respect to the processing tool. The operator can concentrate on adjusting the posture of the processing tool, and can easily move the processing portion of the processing tool along a target trajectory.

  The technique of the present invention is particularly useful when the position and posture of the work object change over time in the work space. In this case, a means for detecting the temporal change in the position and orientation of the work object is added in the coordinate system fixed in the work space, and the motion calculation means is calculated in the coordinate system fixed in the work object. It is preferable to calculate the position and orientation of the processing tool in the coordinate system fixed in the work space by adding the position and orientation of the work object detected by the detection means to the position and orientation of the processing tool.

This is particularly useful when assisting a person who performs a process on a predetermined portion of a work object rotating in the work space. An auxiliary device for this purpose includes an operation force detecting means for detecting an operation force applied by a person to the processing tool in a coordinate system fixed in the work space, and a coordinate system in which the detected operation force is fixed to the work object. And the operation force converted into the coordinate system fixed to the work object is regulated to a predetermined direction in which the moving direction of the part having a predetermined positional relationship with respect to the processing tool is determined from the posture of the processing tool. A first motion calculation means for calculating the position and orientation of the processing tool appearing after a predetermined time in a coordinate system fixed to the work object when it is added to the processing tool model, and the first motion calculation means. The position and orientation of the processing tool appearing after the predetermined time in the coordinate system fixed in the work space is added to the position and orientation of the processing tool, and the position and posture of the processing tool appearing after the predetermined time are fixed in the work space. Calculated in the specified coordinate system That a second motion calculation unit, the position and attitude of a predetermined time after the treatment instrument includes an actuator for adjusting the position and orientation calculated by the second motion calculation means.
According to this auxiliary device, it is easy to obtain an auxiliary result of moving the processing tool along a predetermined trajectory of the work object rotating in the work space, and the burden of moving the worker around is reduced.

The technique of the present invention is also embodied in a method of adjusting the position and posture of a processing tool following a human operation in order to assist a person who performs a process on a predetermined portion of a work target. In this method, an operation force detection step for detecting an operation force applied to a processing tool by a person, and an operation force detected in the operation force detection step, the moving direction of a part having a predetermined positional relationship with respect to the processing tool is determined. A motion calculation step for calculating the position and posture of the processing tool that appears after a predetermined time when added to the processing tool model that is regulated in a predetermined direction determined from the posture of the processing tool, and changing the position and posture of the processing tool And a step of controlling the actuator to adjust the position and posture of the processing tool after a predetermined time to the position and posture calculated in the motion calculation step.
According to this method, the operator can easily move the processing tool along a target locus. An auxiliary result in which the processing tool moves along the target trajectory is easily realized.

  The present invention provides a useful technique for assisting a person who performs a process on a predetermined portion of a work object.

First, main forms of the embodiments described below are listed.
(Mode 1) The work assisting device includes a robot arm that changes the position and posture of the processing tool, and a controller that controls the operation of the robot arm. The controller feedback-controls the position and orientation of the processing tool while detecting the position and orientation of the processing tool.
(Form 2) The work assistance device includes a turntable that supports the work object while rotating it. The turntable includes a sensor that detects the rotation angle of the work object.
(Mode 3) The work assistance device includes an electronic computer. The electronic computer includes a CPU that executes various calculation processes, and a ROM and a RAM that store programs and data used by the CPU.

Example 1
Embodiments embodying the present invention will be described with reference to the drawings. FIG. 1 shows a work auxiliary device described in the present embodiment. The work assisting device follows the operator's operation to assist the worker's work to apply the adhesive to a predetermined location (position along the periphery) of the windshield W of the automobile. The position and posture of 10) are adjusted by the robot arm 20.
In this embodiment, in order to clearly describe the features of the present embodiment, the windshield W is a flat flat glass, and the operator adjusts the position and posture of the coating gun 10 in the plane. .
As shown in FIG. 1, the windshield W is rotated at an angular velocity ω by the turntable 50. An operator performs the operation | work which apply | coats an adhesive agent to the periphery of the windshield W which is rotating using the application | coating gun 10. FIG. The application gun 10 discharges the adhesive from the discharge port 10a. The discharge port 10a is a processing portion that applies an adhesive application process to a work object. The operator is required to apply a predetermined amount (application amount per unit length) of adhesive along the application line H. The coating line H is set at a position along the periphery of the windshield W.

As shown in FIG. 1, an xy fixed coordinate system fixed in the worker's workspace is defined in the worker's workspace. In this fixed coordinate system, the origin is located on the rotation axis C of the windshield W and extends perpendicularly to the rotation axis C. In addition to the fixed coordinate system, an x _j y _j movement coordinate system fixed to the windshield W is defined. In this moving coordinate system, the origin is located on the rotation axis C of the windshield W and extends perpendicularly to the rotation axis C. With respect to the fixed coordinate system, the moving coordinate system rotates at an angular velocity ω as the windshield W rotates. In the following, the rotation angle of the moving coordinate system with respect to the fixed coordinate system is α.
In the application gun 10, the operation direction of the application gun 10 is determined with respect to the direction (posture) of the application gun 10. As shown in FIG. 2, in order to correctly apply the adhesive to the application line H, it is necessary to move the application gun 10 while adjusting the direction (posture direction) N of the application gun 10 to the tangential direction of the application line H. is there. An arrow R in the figure indicates the moving direction of the coating gun 10 with respect to the coating line H. When the posture N of the application gun 10 varies with respect to the tangential direction of the application line H, the amount of adhesive applied changes. The operator needs to adjust the position and posture of the coating gun 10 following the rotating coating line H. When the application line H is stationary, the orientation direction of the application gun 10 matches the direction in which the application gun 10 should move, but when the application line H is moving, the orientation direction of the application gun 10 and the application gun The direction in which 10 should move does not necessarily match. Changes in the position and posture of the application gun 10 with time are complicated.

As shown in FIG. 1, the work assistance device includes a force sensor 6 that detects an operation force applied to the application gun 10 by a worker, and a robot arm (actuator) 20 that changes the position and posture of the application gun 10. A controller 30 that controls the operation of the robot arm 20, a computer 40, and a turntable 50 that supports and rotates the windshield W are provided. The turntable 50 is provided with an encoder 54 for detecting the rotation angle of the windshield W.
The application gun 10 is attached to the tip of the robot arm 20 via the force sensor 6. The force sensor 6 and the encoder 54 are connected to the electronic computer 40. The electronic computer 40 is connected to the controller 30.

The force sensor 6 is a sensor for detecting an operation force applied to the application gun 10 by an operator. The force sensor 6 detects an operation force applied to the application gun 10 by an operator using an xy fixed coordinate system. As shown in FIG. 3, the force sensor 6, among the operating force in the fixed coordinate system, and at least x-axis direction of the operation force f _x, the operating force f _y in the y-axis direction, the rotation direction in the xy plane it is possible to detect the three directions of the operation force of the operation force f _theta.
The force sensor 6 is configured so that the application gun 10 can be attached and detached, and is configured so that other various processing tools can be attached. The force sensor 6 can detect not only the application gun 10 but also the operation force applied by the operator to various processing tools. The output signal of the force sensor 6 is input to the electronic computer 40.
The robot arm 20 is an articulated robot arm in which a plurality of links are connected via a plurality of joints. The robot arm 20 includes an actuator group (not shown) that rotates the joint angles of a plurality of joints. The robot arm 20 is a robot arm having six degrees of freedom. The robot arm 20 can freely change the position and posture of the application gun 10.
The position of the application gun 10 is described by the position (x _m , y _m ) of the reference point P ₀ shown in FIG. The posture of the application gun 10 is described by a rotation angle θ formed by the posture direction N of the application gun 10 and the y-axis direction (hereinafter, this rotation angle θ may be referred to as a posture angle θ). The position and orientation of the application gun 10 (hereinafter, also referred to as “position and orientation”) can be described by a position and orientation matrix q = [x _m , y _m , θ] ^T. A symbol T attached to the right shoulder of the matrix indicates a transposed matrix, and the position / orientation matrix q is a matrix of 3 rows and 1 column (column vector). Incidentally, the discharge port 10a are separated by a distance L1 from the reference point _{P 0} along the orientation direction N of the coating gun 10.

The controller 30 controls the operation of the robot arm 20. The target value of the position and orientation in the fixed coordinate system of the application gun 10 is input from the electronic computer 40 to the controller 30. In addition, an encoder is attached to each actuator of the robot arm 20, and the controller 30 grasps the actual value of the position and orientation of the coating gun 10 in the fixed coordinate system from the output signal of the encoder group. The controller 30 feedback-controls the operation of the robot arm 20 while comparing the target value and actual value of the position and orientation of the coating gun 10 in the fixed coordinate system. The actual value of the position and orientation of the application gun 10 detected by the controller 30 is also input to the electronic computer 40. A commercially available robot arm system can be adopted as the robot arm 20 and the controller 30.
The turntable 50 includes a support shaft 52 that supports the windshield W. The support shaft 52 can rotate and rotates the supporting windshield W. The rotation speed of the support shaft 52 can be adjusted. In this embodiment, the rotation is adjusted to be driven at a constant angular velocity ω. The turntable 50 includes an encoder 54 that detects the rotation angle of the support shaft 52. The output signal of the encoder 54 is input to the electronic computer 40.

The electronic computer 40 determines the position and orientation to be applied to the application gun 10 based on the output signal of the force sensor 6, the output signal of the controller 30 related to the position and orientation of the application gun 10, and the output signal of the encoder 54 of the turntable 50. calculate. Specifically, the target value of the position and orientation of the application gun 10 is calculated every predetermined time Δt. The electronic computer 40 includes a ROM and RAM that are storage units, a CPU that is a calculation unit, an input / output port, and the like.
FIG. 4 shows a flowchart showing the flow of processing executed by the electronic computer 40. The electronic computer 40 repeatedly executes the processing flow shown in FIG. 4 every predetermined time Δt. The operation flow of the work support apparatus will be described along the flow shown in FIG. The electronic computer 40 stores programs and data for executing processing described below in a ROM and a RAM.

In step S2 of FIG. 4, the rotation angle α (t) and the angular velocity ω (t) of the windshield W in the fixed coordinate system are detected. The electronic computer 40 can detect the rotation angle α (t) and the angular velocity ω (t) of the windshield W based on the output signal of the encoder 54 of the turntable 50. The rotation angle α (t) and the angular velocity ω (t) of the windshield W in the fixed coordinate system are equal to the rotation angle α (t) and the angular velocity ω (t) of the moving coordinate system with respect to the fixed coordinate system.
In step S4, the output value of the force sensor 6, operating in the fixed coordinate system force _{f (t) = [f x} , f y, f θ] for detecting a ^T.
In step S6, the operation force f _j (t) = [f _xj (t), f _yj (t), f _θj (t)] ^T in the moving coordinate system is converted. The relationship of the following equation is established between the operating force f _j in the moving coordinate system and the operating force f in the fixed coordinate system.
f _xj = (cos α) · f _x + (sin α) · f _y
f _yj = (− sin α) · f _x + (cos α) · f _y
f _θj = f _θ
The electronic calculator 40 operates in the moving coordinate system using the above relationship from the rotation angle α (t) of the windshield W detected in step S2 and the operating force f (t) in the fixed coordinate system detected in step S4. Convert to force f _j (t).

In step S8, the position and orientation q (t) = [x _m (t), y _m (t), θ (t)] ^T in the fixed coordinate system of the coating gun 10 and its velocity dq (t) / dt = [ dx _m (t) / dt, dy _m (t) / dt, dθ (t) / dt] ^T is detected. The electronic computer 40 inputs the position and orientation q (t) of the coating gun 10 in the fixed coordinate system from the controller 30. The computer 40 also detects, for example, the position and orientation q (t) of the application gun 10 in the fixed coordinate system detected in the current operation cycle and the position and orientation q (t) of the application gun 10 in the fixed coordinate system detected in the previous operation cycle. −Δt), the velocity dq (t) / dt of the coating gun 10 in the fixed coordinate system can be detected.
In step S10, the position and orientation q _j (t) = [x _mj (t), y _mj (t), θ _j (t)] ^T in the moving coordinate system of the coating gun 10 and its velocity dq _j (t) / dt = [dx _mj (t) / dt, dy _mj (t) / dt, dθ _j (t) / dt] ^T is calculated.
The relationship of the following equation (2) is established between the position and orientation q of the coating gun 10 in the fixed coordinate system and the position and orientation q _j in the moving coordinate system. The relationship of the following equation (3) is established between the speed dq / dt of the coating gun 10 in the fixed coordinate system and the speed dq _j / dt in the moving coordinate system. Between the acceleration d ² q / dt ² in the fixed coordinate system of the coating gun 10 and the acceleration d ² q _j / dt ² in the moving coordinate system, the relationship of the following expression (4) is established. T in formulas (2) to (4) is shown in formula (5).

The electronic computer 40 detects the rotation angle α (t) and angular velocity ω (t) of the windshield W detected in step S2, and the position / orientation q (t) and velocity dq of the coating gun 10 in the fixed coordinate system detected in step S8. From (t) / dt, the position and orientation q _j (t) in the movement coordinate system of the coating gun 10 and its velocity dq _j (t) / dt are calculated from the above equation.
Through the above steps, the operating force applied to the application gun 10, the position and orientation of the application gun 10, and the speed of the application gun 10 can be grasped in the moving coordinate system.

In step S12, a wheel-type motion constraint condition is set for the motion of the coating gun 10 in the movement coordinate system. With reference to FIG. 5, the wheel-type motion constraint condition will be described. FIG. 5 schematically shows the application gun 10 provided with a virtual wheel shaft 12. Wheel shaft 12 is provided at a position _{P 1} of the discharge port 10a. The traveling direction of the wheel shaft 12 faces the posture direction N of the coating gun 10. In the application gun 10 with the wheel shaft 12, the wheel shaft 12 prohibits the discharge port 10 a from sliding sideways in the normal direction S of the application gun 10. In the application gun 10 with the wheel shaft 12, the movement direction of the discharge port 10a coincides with the posture direction N of the application gun 10, and it becomes easy to operate the application gun 10 in the correct operation direction. In this step, a movement constraint condition for reproducing the movement of the coating gun 10 provided with the wheel shaft 12 is set in the movement of the coating gun 10 operated by the operator.
The velocity in the normal direction S at the discharge port 10a is expressed as [cos θ _j , sin θ _j , −L1] · dq _j / dt with respect to the velocity dq _j / dt of the coating gun 10. Here, L1 is the distance of the discharge ports 10a and the reference point _{P 0} of the coating gun 10. In order to give a wheel-type motion constraint to the motion of the coating gun 10 operated by the operator, the speed in the normal direction S at the discharge port 10a only needs to be zero. 6) It can be described by the equation.

ここで、Ｍは塗布ガン１０の加速度に対する比例マトリクスであり、塗布ガン１０に再現する質量および慣性モーメントを記述している。Ｄは塗布ガン１０の速度に対する比例マトリクスであり、塗布ガン１０に再現する粘性係数を記述している。上記の（７）式に、ステップＳ１２で設定した運動拘束条件を記述する（６）式を加味することによって、作業者が塗布ガン１０に加えている操作力ｆ_ｊを、図５に示した車輪軸１２付きの塗布ガン１０に加えた時に生じる運動を計算することができる。以下に計算手順の一例を示す。 In step S14 of FIG. 4, the target value of acceleration d ² q _j / dt ² in the movement coordinate system of the coating gun 10 is calculated based on the operating force f _j (t) in the movement coordinate system calculated in step S6. The target value of the acceleration d ² q _j / dt ² in the movement coordinate system of the coating gun 10 can be calculated using the following equation.

Here, M is a proportional matrix with respect to the acceleration of the application gun 10, and describes the mass and moment of inertia reproduced in the application gun 10. D is a proportional matrix with respect to the speed of the application gun 10, and describes the viscosity coefficient reproduced in the application gun 10. FIG. 5 shows the operating force f _j applied to the application gun 10 by the operator by adding the expression (6) describing the motion constraint condition set in step S12 to the expression (7). The motion that occurs when applied to the application gun 10 with the wheel shaft 12 can be calculated. An example of the calculation procedure is shown below.

上記の（８）式を用いて、（７）式を下記の（９）式に変形することができる。

ただし、

である。
以上から、塗布ガン１０の加速度ｄ^２ｑ_ｊ／ｄｔ^２は、下記の（１１）式によって計算することができる。

上記の（１１）式の右辺に、ステップＳ６で算出した移動座標系における操作力ｆ_ｊ（ｔ）や、ステップＳ１０で算出した塗布ガン１０の位置姿勢ｑ_ｊ（ｔ）と速度ｄｑ_ｊ（ｔ）／ｄｔを代入することによって、塗布ガン１０の移動座標系における加速度の目標値ｄ^２ｑ_ｊ／ｄｔ^２を計算することができる。 The following formulas (8a) and (8b) can be determined from the motion constraint condition of formula (6).

Using the above equation (8), the equation (7) can be transformed into the following equation (9).

However,

It is.
From the above, the acceleration d ² q _j / dt ² of the application gun 10 can be calculated by the following equation (11).

On the right side of the above equation (11), the operating force f _j (t) in the moving coordinate system calculated in step S6, the position and orientation q _j (t) of the coating gun 10 calculated in step S10, and the speed dq _j (t ) / Dt can be substituted to calculate the target value d ² q _j / dt ² of the acceleration in the moving coordinate system of the coating gun 10.

In step S16, the target value d ² q / dt ² of acceleration in the fixed coordinate system of the application gun 10 is calculated. The acceleration target value d ² q / dt ² in the fixed coordinate system can be calculated using the above-described equation (4). Specifically, the position and orientation q _j (t) and velocity dq _j (t) / dt in the movement coordinate system of the coating gun 10 calculated in step S10 and the coating gun 10 calculated in step S14 are expressed in equation (4). can be a by substituting the target value ^{d 2} _q j / dt 2 of the acceleration in the moving coordinate system, calculates the target value ^{d 2} q / dt 2 of the acceleration in the fixed coordinate system.
In step S18, a target value q (t + Δt) after a predetermined time of the position and orientation of the coating gun 10 in the fixed coordinate system is calculated. The target value q (t + Δt) after a predetermined time of the position and orientation in the fixed coordinate system is the position and orientation q (t) and speed dq (t) / dt of the coating gun 10 detected in step S8, and step S16. From the acceleration target value d ² q _j / dt ² in the fixed coordinate system of the coating gun 10 calculated in (5), it can be calculated by numerical integration.
In step S20, the target value q (t + Δt) after a predetermined time of the position and orientation of the coating gun 10 in the fixed coordinate system calculated in step S18 is taught to the controller 30. The controller 30 controls the robot arm 20 so that the actual position and orientation of the application gun 10 become the target value q (t + Δt) after a predetermined time.

The electronic computer 40 repeats the above processing flow every predetermined time Δt. As a result, the application gun 10 operated by the operator moves as if the wheel shaft 12 shown in FIG. 5 is provided. In the movement realized by the coating gun 10, the moving direction of the coating gun 10 with respect to the windshield W and the posture direction N of the coating gun 10 with respect to the windshield W are linked. Thereby, for example, if the posture direction N of the application gun 10 is continuously adjusted to the tangential direction of the application line H, the discharge port 10a of the application gun 10 can be moved along the application line H. Further, since the application gun 10 moves only in the posture direction N of the application gun 10 with respect to the windshield W, fluctuations in the amount of adhesive applied are suppressed.
In this work auxiliary device, when an operator moves the application gun 10 relative to the windshield W, inertial force and viscous force are applied to changes in the position and posture of the application gun 10. Such a feeling of operation is given to the operator. The operator can know the relative motion between the application gun 10 and the windshield W by force, and can easily operate the application gun 10 with respect to the rotating windshield W.

(Example 2)
In the present embodiment, an example will be described in which, in the work support device according to the first embodiment, when the operator operates the application gun 10, the motion characteristics reproduced in the application gun 10 are changed.
In this embodiment, the movement of the application gun 10 in which the virtual wheel shaft 14 is provided at a position different from the discharge port 10a is reproduced as shown in FIG. . Wheel shaft 14 is provided at a position P ₂ only the offset distance L2 along the orientation direction N of the coating gun 10 from the discharge port 10a. In the coating gun 10 wheel shaft 14 and this offset is provided, the wheel shaft 14 which is offset, the moving direction of away from the discharge port 10a by a distance L2 position P ₂ is restricted to the axle direction, law coating gun 10 Side-sliding in the line direction S is prohibited. In order to reproduce the movement of the application gun 10 provided with the wheel shaft 14 being offset to the movement of the application gun 10 operated by the operator, the following description will be given in step S12 (FIG. 4) of the first embodiment. What is necessary is just to set the movement restraint conditions to perform.

と記述することができる。実施例１の運動拘束条件を記述する（６）式と比較して、Ｌ１の部分を（Ｌ１＋Ｌ２）に変更したものとなる。
以下、ステップＳ１４以降の処理を実施例１と同様に行うことによって、作業者が操作している塗布ガン１０の運動に、オフセット車輪軸１４が設けられている塗布ガン１０の運動を再現することができる。 Relative to the speed _dq j / dt in the moving coordinate system of the coating gun 10, the speed of the position _{P 2} definitive normal direction S that distance L2 offset in the direction N of the coating gun 10 from the discharge port 10a is, [cos [theta] _j, sin [theta _j , − (L1 + L2)] · dq _j / dt. Since the velocity in the normal direction S should be zero, the motion constraint condition is

Can be described. Compared with the equation (6) describing the motion constraint condition of the first embodiment, the portion of L1 is changed to (L1 + L2).
Hereinafter, the movement of the application gun 10 provided with the offset wheel shaft 14 is reproduced in the movement of the application gun 10 operated by the operator by performing the processing after step S14 in the same manner as in the first embodiment. Can do.

FIG. 7 shows a state where the application gun 10 is operated from the straight line portion A through the arc portion B to the straight line portion C along the application line H. FIG. 8 shows the change of the posture angle θ _j in the moving coordinate system of the coating gun 10 during the operation over time. A graph G2 in FIG. 8 shows the result when the wheel shaft 14 offset from the discharge port 10a is virtually assumed as in the present embodiment, and the graph G1 is located at the position of the discharge port 10a as in the first embodiment. Is shown in a virtual case. As can be seen by comparing the graphs G1 and G2, in the present embodiment, the transition of the posture angle θ _j is gentle when moving from the straight line portion A to the circular arc portion B or when moving from the circular arc portion B to the straight line portion C. It has become. This is due to a delay (phase difference) between the change in the posture of the application gun 10 and the change in the movement direction of the discharge port 10a of the application gun 10. The operator can easily operate the application gun 10 correctly along the application line H where the linear portion and the arc portion are combined.
The phase difference (delay or advance) can be adjusted by adjusting the offset amount of the hypothetical wheel shaft 14 or by offsetting it in the reverse direction. Thereby, the operational feeling can be adjusted according to the operator.

(Example 3)
Also in this embodiment, another example will be described in which the motion characteristics reproduced in the coating gun 10 are changed when the operator operates the coating gun 10 in the work support apparatus of the first embodiment.
In the present embodiment, the movement of the application gun 10 operated by the operator is reproduced as shown in FIG. 9 by the movement of the application gun 10 in which the wheel shaft link 16 is rotatably connected to the position of the discharge port 10a. . The link length of the wheel shaft link 16 is L2. The direction N2 of the wheel shaft link 16 is described by a rotation angle φ _j from the _yj axis direction. In the coating gun 10 the wheel shaft link 16 is provided by axle links 16, the movement direction of the position P ₃ apart in the direction N2 by a distance L2 of the wheel shaft link 16 from the discharge port 10a is restricted to the axle direction Side slipping in the normal direction S of the wheel shaft link 16 is prohibited. Further, a spring-damper portion 18 is provided between the coating gun 10 and the wheel shaft link 16 to provide impedance characteristics between the posture angles θ _j and φ _j of both. As a result, the reaction force torque f _cj described by the following equation (13) is applied to the coating gun 10. In this processing tool model, the moving direction of the part P ₃ that is in a predetermined positional relationship with respect to the processing tool 10 changes after a change in the posture of the processing tool 10.

In order to reproduce the movement of the coating gun 10 provided with the wheel shaft link 16 in the movement of the coating gun 10 operated by the operator, the movement described below in step S12 (FIG. 4) of the first embodiment. What is necessary is just to set a constraint condition.
In this embodiment, in step S12 shown in FIG. 4, instead of the movement restriction condition of the first embodiment, the movement restriction condition for reproducing the movement of the coating gun 10 provided with the wheel shaft link 16 shown in FIG. Set.
A position offset by a distance L2 from the discharge port 10a in the direction N2 of the wheel shaft link 16 with respect to the speed dq _j (t) / dt and the rotational speed dφ _j / dt of the wheel shaft link 16 in the movement coordinate system of the coating gun 10 The velocity in the normal direction S in P ₃ is expressed as [cos φ _j , sin φ _j , −L1 cos (φ _j −θ _j ), −L2] · [(dq _j / dt) ^T , dφ _j / dt] ^T The Since the velocity in the normal direction S only needs to be zero, the motion constraint condition can be described by the following equation (14).

上記の（１５）式に、上記の（１４）式を加味することによって、図９に示した車輪軸リンク１６が設けられた塗布ガン１０の運動を計算することができる。以下に計算手順の一例を示す。
（１４）式に、ステップＳ１０で算出した塗布ガン１０の移動座標系における位置姿勢ｑ_ｊ（ｔ）と速度ｄｑ_ｊ（ｔ）／ｄｔと、前回の動作ステップで計算した車輪軸リンク１６の姿勢角φ_ｊ（ｔ−Δｔ）を代入して、車輪軸リンク１６の姿勢角φ_ｊの変化速度ｄφ_ｊ（ｔ）／ｄｔを計算することができる。計算した姿勢角φ_ｊの変化速度ｄφ_ｊ（ｔ）／ｄｔを積分することによって、車輪軸リンク１６の姿勢角φ_ｊ（ｔ）を計算することができる。次いで、（１５）式に、塗布ガン１０の移動座標系における位置姿勢ｑ_ｊ（ｔ）と速度ｄｑ_ｊ（ｔ）／ｄｔと、計算した車輪軸リンク１６の姿勢角φ_ｊ（ｔ）と変化速度ｄφ_ｊ（ｔ）／ｄｔを代入して、塗布ガン１０の移動座標系における加速度の目標値ｄ^２ｑ_ｊ／ｄｔ^２を計算することができる。
以下、ステップＳ１６以降の処理を行うことによって、作業者が操作している塗布ガン１０の運動に、車輪軸リンク１６が設けられている塗布ガン１０の運動を再現することができる。 In the next step S14 shown in FIG. 4, the target value d ² q _j / dt ² of the acceleration in the movement coordinate system of the coating gun 10 is calculated using the above equation (14). In this embodiment, the reaction force torque f _cj shown in the equation (16) is applied to the coating gun 10, and therefore the target value d ² q _j / dt ² of the acceleration is calculated using the following equation (15). Can be calculated.

By adding the above equation (14) to the above equation (15), the motion of the coating gun 10 provided with the wheel shaft link 16 shown in FIG. 9 can be calculated. An example of the calculation procedure is shown below.
In equation (14), the position and orientation q _j (t) and speed dq _j (t) / dt in the movement coordinate system of the coating gun 10 calculated in step S10, and the posture of the wheel shaft link 16 calculated in the previous operation step. The change speed dφ _j (t) / dt of the posture angle φ _j of the wheel shaft link 16 can be calculated by substituting the angle φ _j (t−Δt). The attitude angle φ _j (t) of the wheel shaft link 16 can be calculated by integrating the calculated change speed dφ _j (t) / dt of the attitude angle φ _j . Then, the position and orientation q _j (t) and velocity dq _j (t) / dt in the movement coordinate system of the coating gun 10 and the calculated posture angle φ _j (t) of the wheel shaft link 16 are changed into the expression (15). By substituting the velocity dφ _j (t) / dt, the target value d ² q _j / dt ² of acceleration in the moving coordinate system of the coating gun 10 can be calculated.
Hereinafter, by performing the processing after step S16, the movement of the application gun 10 provided with the wheel shaft link 16 can be reproduced in the movement of the application gun 10 operated by the operator.

  FIG. 10 shows a state when the application gun 10 is operated along the application line H. As shown in FIG. 10, according to this embodiment, when the orientation direction N of the application gun 10 changes, the orientation direction N of the application gun 10 and the movement direction N2 of the application gun 10 are different. Since impedance characteristics are given between the posture direction N and the movement direction N2, a change (phase difference) occurs in the movement direction N2 of the coating gun 10 with respect to the change in the posture direction N of the coating gun 10. . Due to this delay, the operator can correct the trajectory and posture of the application gun 10 with a more natural sense.

Example 4
In this embodiment, an example will be described in which the characteristics of the spring-damper portion 18 provided between the coating gun 10 and the wheel shaft link 16 are adjusted during work support in the work support apparatus described in the third embodiment. .
Spring 9 - characteristic of the damper unit 18, by increasing or decreasing adjusts the proportional coefficient K _c and proportionality coefficient D _c in the above-mentioned (16), can be adjusted. In the present embodiment, the proportionality coefficient K _c in the above-described equation (16) is _calculated by using the difference | φ _j −θ _j | (absolute value) between the posture angle φ _j of the wheel shaft link 16 and the posture angle θ _j of the coating gun 10. ) Will be described.

FIG. 11 shows an example of the relationship between the proportionality coefficient _Kc and the angle difference | φ _j −θ _j | used in this embodiment. The relationship between the proportionality coefficient _Kc and the angle difference | φ _j −θ _j | as illustrated in FIG. 11 can be taught to the electronic computer 40 in advance. As shown in FIG. 11, the proportionality coefficient K _c is determined so as to increase and decrease in accordance with the angle difference | φ _j −θ _j |. Specifically, the proportionality coefficient _Kc is set to be smaller as the angle difference | φ _j −θ _j | is larger. The electronic computer 40 refers to the relationship between the taught proportionality coefficient K _c and the angle difference | φ _j −θ _j | to determine the proportional coefficient K _c used for calculating the reaction force torque f _cj as the angle difference | φ _j. It can be determined according to −θ _j |. Thus, during the work support, the angle difference | phi _j - [theta] _j | higher is large, the reaction force torque _{f cj} applied to the coating gun 10 is reduced, the angular difference | is smaller | phi _j - [theta] _j The reaction torque _fcj applied to the application gun 10 becomes smaller. Incidentally, in the formula describing the Kc in FIG _{11 (φ j -θ j),} K1 is the minimum value of the proportionality factor _{K c,} K2 is the maximum value of the proportional coefficient _{K c,} gamma parameters for adjustment It is. These K1, K2, and γ can be appropriately set in consideration of the operation feeling felt by the worker.

When the coating gun 10 is operated along the coating line H of the windshield W, the posture angle θ _j of the coating gun 10 needs to be maintained substantially constant in the moving coordinate system at the straight portion of the coating line H. While the posture angle θ _j of the coating gun 10 is maintained substantially constant in the movement coordinate system, that is, when the change speed dθ _j / dt of the posture angle θ _j is small, the posture angle φ _j of the wheel shaft link 16 is The angle difference | φ _j −θ _j | from the posture angle θ _j of the coating gun 10 is calculated to be relatively small. At this time, in the present embodiment, the proportionality coefficient _Kc is set to be relatively large, so that the reaction force torque f _cj is applied to the application gun 10 with respect to the posture change. Therefore, while operating the application gun 10 along the straight line portion of the application line H, the operation force required to change the posture of the application gun 10 becomes relatively large. In other words, the posture change of the application gun 10 is suppressed with respect to the operating force applied to the application gun 10 by the operator. For example, even when the operator shakes or the like, the posture change of the application gun 10 is suppressed to be small, and the posture of the application gun 10 can be correctly maintained along the linear application line H.
On the other hand, when the application gun 10 is operated along the arc portion of the application line H, the posture angle θ _j of the application gun 10 needs to be greatly changed in the movement coordinate system. While the posture angle θ _j of the coating gun 10 is largely changed in the movement coordinate system, that is, in a state where the change speed dθ _j / dt of the posture angle θ _j is large, the posture angle φ _j of the wheel shaft link 16 described above is set. The angle difference | φ _j −θ _j | with respect to the posture angle θ _j of the coating gun 10 is calculated to be relatively large. At this time, in the present embodiment, the proportionality coefficient _Kc is set to be relatively small, so that the reaction force torque f _cj is applied to the application gun 10 with respect to the posture change. Therefore, while operating the application gun 10 along the arc portion of the application line H, the operation force required to change the posture of the application gun 10 is relatively small. The operator can easily change the posture of the application gun 10 along the arc-shaped application line H without receiving an excessive reaction force.
By using the technique of the present embodiment, when the application gun 10 is operated along the application line H, the operability of the application gun 10 is appropriately adjusted according to the shape of the application line H such as a straight line or a curve. Is possible.

(Example 5)
In the present embodiment, an example will be described in which a self-propelled characteristic in which the coating gun 10 moves actively is added to the motion characteristics reproduced in the coating gun 10. The self-propelled characteristics described in the present embodiment can be appropriately given to the various systems described in the first to fourth embodiments. Below, the example which adds a self-propelled characteristic to the system of Example 1 is demonstrated.
FIG. 12 shows a model of the application gun 10 to which self-propelled characteristics are imparted. As shown in FIG. 12, in this embodiment, when calculating the motion reproduced in the application gun 10, a self-running force f _fj acting on the application gun 10 is set in addition to the operation force by the operator. At this time, the self-running force f _fj is set along the posture direction N of the application gun 10. The free-running force f _fj is, for example, a virtual flow field (velocity V _r ) along the posture direction N of the application gun 10, and the viscous force D _r · V _r applied to the application gun 10 is calculated from the flow field. Thus, the self-propelled force f _fj applied to the coating gun 10 can be used.

FIG. 13 is a flowchart showing the flow of processing executed by the electronic computer 40 in this embodiment. In the flow shown in FIG. 13, a new step S <b> 11 is inserted between steps S <b> 10 and S <b> 12 as compared with the flow shown in FIG. 4 described in the first embodiment. A processing operation for adding a self-propelled characteristic to the coating gun 10 will be described along the flow shown in FIG. 13. As shown in FIG. 13, the electronic computer 40 executes the processing of step S <b> 2 to step S <b> 10 in the same manner as in the first embodiment. Then, the operation force applied to the application gun 10, the position and orientation of the application gun 10, and the speed of the application gun 10 are grasped by the moving coordinate system.
In step S11, the self-running force f _fj shown in FIG. 12 is applied to the operating force f _j in the mobile work system calculated in step S6. The self-propelled force f _fj = D _r · V _r shown in FIG. 12 can be calculated using the following equation (16) and the attitude angle θ _i in the movement coordinate system of the coating gun 10 calculated in step S10. it can. The flow field velocity V _r and the proportional coefficient D _r can be taught to the computer 40 in advance. At this time, the velocity V _{r of the} flow field can be set to a constant value, for example, or can be determined so as to change according to the position in the moving coordinate system.

Step S12 and subsequent steps, except the use of force instead to the operating force _{f j} calculated in step S11 and the free-running power _{f fj} operation force _{f j (f} j _{+ f fj),} similarly to Example 1 To be executed. Thereby, when the operator operates the application gun 10, the movement with the self-propelled force f _fj shown in FIG. 12 is reproduced in the application gun 10.
In addition, in the setting process of the motion constraint formula in Step S12, the motion constraint formula ((12) formula) described in the second embodiment and the motion constraint formula ((14)) described in the third embodiment are used. Work assistance in which self-propelled characteristics are imparted to the methods of Example 2 and Example 3 can be realized.

Normally, when operating the application gun 10 along the application line H of the windshield W, the operator maintains the posture of the application gun 10 in the tangential direction of the application line H, and moves the application gun 10 to the application line H. It is necessary to move along. The operator needs to adjust both the position and the posture of the application gun 10 and is forced to perform difficult operations.
According to the technique of the present embodiment, the application gun 10 actively moves toward its own posture direction N. Therefore, if the posture of the application gun 10 is maintained in the tangential direction of the application line H, the application gun 10 Moves actively along the coating line H. Therefore, when operating the coating gun 10 along the coating line H of the windshield W, only the operation of maintaining the posture of the coating gun 10 in the tangential direction of the coating line H is required. The operation of moving along the line can be made unnecessary. The operator can concentrate on the operation of adjusting the posture of the application gun 10 and can accurately operate the application gun 10 along the application line H.

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.
The technique of the present invention is not limited by the work object and the processing tool, and can be applied to work for operating various processing tools on various work objects. The work target at this time is not limited to a substantial object, but may be a virtual object reproduced and displayed on a computer screen or the like.
The technique of the present invention is not limited to a work in which a person directly operates a processing tool, but can also be applied to a work in which a person remotely operates a processing tool. A human operates an operator imitating a processing tool, and an actuator adjusts the position and posture of the operator so as to follow the human operation. In parallel with this, the position and posture of the processing tool for performing the actual processing may be similarly adjusted by another actuator.
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 structure of a work assistance apparatus. The figure which shows the motion desired for an application | coating gun. The figure which shows the point used as the reference | standard of the position and orientation of an application | coating gun. The flowchart which shows the flow of the process which an electronic computer performs. The schematic diagram which shows the application | coating gun with which the wheel shaft is provided in the position of the discharge outlet. The schematic diagram which shows the application | coating gun provided with the wheel shaft offset from the discharge outlet. The figure which shows the motion of the application | coating gun by Example 2. FIG. The figure which shows the change of the attitude angle of the application | coating gun by Example 2 with time. The schematic diagram which shows the application | coating gun by which the wheel shaft is rotatably connected with the discharge outlet. FIG. 10 is a diagram illustrating movement of an application gun according to the third embodiment. 10 is a graph illustrating the relationship between an angle difference φ _j −θ _j and a proportional coefficient K _c used in the fourth embodiment. The figure explaining the self-propelled characteristic added in Example 5. FIG. 10 is a flowchart illustrating a flow of processing executed by the electronic computer according to the fifth embodiment.

Explanation of symbols

6. Force sensor 10 Application gun (processing tool)
12. Wheel shaft 14 Offset wheel shaft 16 Wheel link 20 Robot arm (actuator)
30..Controller 40..Electronic computer 50..Turntable 54..Encoder H..Dispensing line

Claims (11)

A work auxiliary device that adjusts the position and posture of a processing tool following a human operation in order to assist a person who performs a process on a predetermined portion of a work object,
An operation force detecting means for detecting an operation force applied to a processing tool by a person;
When the operating force detected by the operating force detecting means is applied to the processing tool model in which the moving direction of the part having a predetermined positional relationship with respect to the processing tool is regulated in a predetermined direction determined from the posture of the processing tool, Motion calculation means for calculating the position and posture of the processing tool appearing after a predetermined time;
An actuator for adjusting the position and posture of the processing tool after a predetermined time to the position and posture calculated by the motion calculation means;
A work auxiliary device comprising:   2. The work assisting device according to claim 1, wherein in the processing tool model, a moving direction of a processing part of the processing tool is restricted to a predetermined direction determined from a posture of the processing tool.   2. The operation according to claim 1, wherein in the processing tool model, a moving direction of a part offset by a predetermined distance in a predetermined direction from a processing part of the processing tool is restricted to a predetermined direction determined from a posture of the processing tool. Auxiliary device.   4. The operation according to claim 1, wherein in the processing tool model, a moving direction of a portion having a predetermined positional relationship with respect to the processing tool changes after a change in the posture of the processing tool. Auxiliary device.   In the processing tool model, the angular difference between the moving direction of a part having a predetermined positional relationship with the processing tool and the posture of the processing tool increases as the change speed of the processing tool posture increases. The work auxiliary device according to claim 4.   The motion calculation means adds the torque obtained by multiplying the detected operating force by a predetermined coefficient to the angle difference between the moving direction of the part having a predetermined positional relationship with the processing tool and the posture of the processing tool. 6. The work auxiliary device according to claim 5, wherein the position and posture of the tool are calculated.   The work assisting device according to claim 6, wherein the motion calculation means sets the predetermined coefficient for calculating the torque to be smaller as the angular difference is larger.   The motion calculation means calculates the position and orientation of the processing tool by adding a predetermined force along the moving direction of a part having a predetermined positional relationship with respect to the processing tool to the detected operating force. The work auxiliary device according to any one of claims 1 to 7. A coordinate system fixed in the work space, further comprising means for detecting a change in the position and posture of the work object over time;
The motion calculation means performs processing in a coordinate system fixed in the work space by adding the position and posture of the detected work object to the position and posture of the processing tool calculated in the coordinate system fixed in the work object. The work auxiliary device according to claim 1, wherein the position and posture of the tool are calculated. A work auxiliary device that adjusts the position and posture of a processing tool following a human operation in order to assist a person who performs a process on a predetermined part of a work object rotating in a work space. ,
An operation force detecting means for detecting an operation force applied by the person to the processing tool in a coordinate system fixed in the work space;
Means for converting the detected operating force into a coordinate system fixed to the work object;
The processing tool model in which the operating force converted into the coordinate system fixed to the work object is regulated in a predetermined direction in which the moving direction of a part having a predetermined positional relationship with respect to the processing tool is determined from the posture of the processing tool First motion calculation means for calculating the position and orientation of the processing tool appearing after a predetermined time in a coordinate system fixed to the work object when
The position and orientation of the processing tool calculated by the first motion calculating means are added to the position and orientation of the processing tool that occurs within the predetermined time in the coordinate system fixed in the work space, and the processing tool that appears after the predetermined time Second motion calculation means for calculating a position and orientation in a coordinate system fixed in the work space;
An actuator for adjusting the position and orientation of the processing tool after a predetermined time to the position and orientation calculated by the second motion calculating means;
A work auxiliary device comprising: A method of adjusting the position and posture of a processing tool following a human operation in order to assist the work of a person who performs processing on a predetermined portion of a work object,
An operation force detection step of detecting an operation force applied to a processing tool by a person;
When the operation force detected in the operation force detection step is applied to the processing tool model in which the moving direction of the part having a predetermined positional relationship with respect to the processing tool is regulated in a predetermined direction determined from the posture of the processing tool, A motion calculation step for calculating the position and orientation of the processing tool appearing after a predetermined time;
Controlling the actuator for changing the position and posture of the processing tool, and adjusting the position and posture of the processing tool after a predetermined time to the position and posture calculated in the motion calculation step;
A work assistance method comprising:

Images