JP2012011498A - System and method for operating robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid obstacles safely, reliably and easily, in operating a robot arm.SOLUTION: An robot arm operating system includes: a remote controller 1 for operating the robot arm 2 on the basis of an operation command value received in real-time; an environmental data storage part 4 for storing environmental data including a 3D shape model of the obstacle; a repulsive force vector field generating processor 5 for setting a virtual repulsive force vector field so that a repulsive force is increased as the distance to the obstacle becomes shorter; a virtual force generating processor 6 for calculating a virtual repulsive force in the direction of moving away from the obstacle relative to the robot arm by using the repulsive force vector field; and a robot controller 3 for generating a motion command value to the robot arm by combining the virtual repulsive force calculated by the virtual force generating processor 6 and the operation command value from the remote controller 1.

Description

  The present invention relates to a robot arm operation system having a function for supporting an operation so that a robot arm does not come into contact with surrounding obstacles or the like during remote operation of the robot arm, and an operation method thereof.

  Conventionally, remote control using a master-slave system or a control stick such as a joystick has been performed on a robot arm used for a nuclear waste reprocessing facility or work in outer space. In normal remote control, an operator operates the robot arm remotely while grasping the situation of the robot arm from a camera image in order to move the robot arm to a target position while avoiding contact with surrounding obstacles.

  However, with camera information alone, careful operation is required because the depth is unclear or there is a shadowed part or a blind spot of the structure due to lighting, and an excessive load is placed on the operator. At the same time, the working time was increased. From such a background, a method of reducing blind spots by synthesizing a virtual environment image and a real image and presenting them on a display screen (see Patent Document 1), or providing a virtual guide on the virtual environment An operation support technique such as a support method (see Patent Document 2) that can guide a robot arm to the center of a hole such as a pin insertion work has been proposed.

Japanese Patent No. 3924495 Japanese Patent No. 2621803

  However, in the above operation support technology, if the robot arm stops due to an error in a complicated posture that avoids multiple obstacles, even if the robot arm situation can be recognized, It is difficult to operate to return to the initial posture. Also, it is not easy to set a virtual guide for a different situation each time an obstacle is avoided.

  In view of the above-described problems, an object of the present invention is to make it possible to avoid an obstacle safely, reliably and easily when operating a robot arm.

  In order to achieve the above object, one aspect of the robot arm operation system according to the present invention includes a remote control unit that controls the robot arm based on a control command value received from the remote in real time to the robot arm, An environment data storage unit for storing environment data including a three-dimensional shape model of an obstacle in the work environment in which the robot arm is operable and which may be an obstacle to the operation of the robot arm; and the obstacle in the work environment A repulsive force vector field generation processing unit for setting a virtual repulsive force vector field so that the repulsive force vector becomes larger as the distance between and a direction away from the obstacle with respect to the robot arm using the repulsive force vector field A virtual force generation processing unit that calculates a virtual repulsive force to the virtual force generated by the virtual force generation processing unit and the virtual repulsive force A robot controller for generating an operation command value for the robot arm in combination with the steering command value from 隔操 longitudinal section, and having a.

  Another aspect of the robot arm operating system according to the present invention includes a remote control unit that controls the robot arm based on a control command value received from the remote in real time with respect to the robot arm, and a plurality of locations of the robot arm. A plurality of distance sensors that detect a distance from an obstacle that can be an obstacle to the operation of the robot arm in a work environment in which the robot arm is operable; and a distance detected by the distance sensor. A virtual force generation processing unit that calculates a virtual repulsive force in a direction away from the obstacle with respect to the robot arm, a virtual repulsive force calculated by the virtual force generation processing unit, and the remote control unit A robot controller that generates an operation command value for the robot arm in combination with a steering command value from It is characterized in.

  One aspect of the robot arm operation method according to the present invention is a robot arm operation method for remotely operating a robot arm, wherein a control command value receiving step for receiving a control command value for operating the robot arm in real time, and the robot An environment data storage step for storing environment data including a three-dimensional shape model of an obstacle that can be an obstacle to the operation of the robot arm in the work environment in which the arm can operate; and the obstacle in the work environment A repulsive force vector field generating step for setting a virtual repulsive force vector field so that the repulsive force vector becomes larger as the distance is closer, and a virtual direction in which the robot arm is moved away from the obstacle using the repulsive force vector field A virtual force generation step for calculating a repulsive force, and a temporary force calculated in the virtual force generation step. And having a an operation command value generation step of generating an operation command value for the robot arm combined repulsion between the said steering command value.

  Another aspect of the robot arm operating method according to the present invention is a robot arm operating method for manipulating the robot arm based on a maneuvering command value remotely received in real time with respect to the robot arm. A distance detecting step of detecting a distance from an obstacle in the work environment in which the robot arm can operate, which may be an obstacle to the operation of the robot arm, by means of a plurality of distance sensors attached to the part; and the distance detecting step A virtual force generating step for calculating a virtual repulsive force in a direction away from the obstacle with respect to the robot arm based on the distance detected in step (b), and a virtual repulsive force calculated in the virtual force generating step. An operation command value for generating an operation command value for the robot arm in combination with the operation command value Forming a step, and having a.

  According to the present invention, obstacles can be avoided safely, reliably and easily when operating the robot arm.

It is a block diagram which shows the structure of 1st Embodiment of the robot arm operation system which concerns on this invention. It is a typical perspective view which shows the outline | summary of the repulsive force vector field set based on an obstruction in 1st Embodiment of the robot arm operation system which concerns on this invention. It is a typical perspective view showing an outline of a robot arm, an obstacle, and a repulsive force vector in a 1st embodiment of a robot arm operation system concerning the present invention. It is a block diagram which shows the structure of 2nd Embodiment of the robot arm operation system which concerns on this invention. It is a typical perspective view showing an outline of a robot arm and an obstacle in a 2nd embodiment of a robot arm operation system concerning the present invention. It is a block diagram which shows the structure of 3rd Embodiment of the robot arm operation system which concerns on this invention. It is a typical perspective view which shows the outline | summary of the robot arm and virtual obstacle in 3rd Embodiment of the robot arm operation system which concerns on this invention. It is a typical perspective view which shows the outline | summary of the robot arm and target in 4th Embodiment of the robot arm operation system which concerns on this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration of a first embodiment of a robot arm operation system according to the present invention. FIG. 2 is a schematic perspective view showing an outline of a repulsive force vector field set based on an obstacle in the first embodiment of the robot arm operation system according to the present invention. FIG. 3 is a schematic perspective view showing an outline of a robot arm, an obstacle, and a repulsive force vector in the first embodiment of the robot arm operation system according to the present invention.

  The robot arm operation system of this embodiment includes a remote control unit 1, an environment data storage unit 4 that stores environment data, a repulsive force vector field generation processing unit 5 that sets a virtual repulsive force vector field, and a repulsive force vector field. A virtual force generation processing unit 6 that calculates a virtual repulsive force using the robot, a robot controller 3 that generates an operation command value for the robot arm 2, and an approach degree presentation unit 7 are provided.

  The remote control unit 1 controls the robot arm 2 remotely based on the control command value received in real time with respect to the robot arm 2. The environment data storage unit 4 stores environment data including a three-dimensional shape model of the obstacle 20 that can be an obstacle to the operation of the robot arm 2 in the work environment in which the robot arm 2 can operate. The repulsive force vector field generation processing unit 5 sets a virtual repulsive force vector field so that the repulsive force vector becomes larger as the distance from the obstacle 20 is shorter in the work environment. The virtual force generation processing unit 6 calculates a virtual repulsive force in a direction away from the obstacle 20 with respect to the robot arm 2 using the repulsive force vector field. The robot controller 3 generates an operation command value for the robot arm 2 by combining the virtual repulsive force calculated by the virtual force generation processing unit 6 and the operation command value from the remote control unit 1.

  As shown in FIG. 1, the robot arm operation system of this embodiment further includes a camera image acquisition unit 8, an image processing unit 9, an environment data correction unit 10, and a display unit 11. These will be described later.

  In general, the robot arm 2 includes a joint and a link mechanism. There are various types of joints such as rotary joints and linear joints as well as spherical joints. There are cases where the joint operates actively with a motor or the like, or passively without a power source. Each joint is linked by a link mechanism, and there are a serial link type in which joints and link mechanisms are alternately connected in series, and a parallel link type in which combinations of joints and links are arranged in parallel.

  Hereinafter, a serial link type robot arm 2 having a rotary joint will be described as an example. The robot arm 2 is remotely operated by a command from the remote control unit 1 via the robot controller 3. The robot arm 2 is remotely operated in the case where the position and posture of the hand 70 of the robot arm 2 is commanded, and in addition to the position and posture of the hand 70 of the robot arm 2, each joint of the robot arm 2 An angle may be commanded.

  In the former case, a device such as a joystick, a game pad, or a mouse is used for the remote control unit 1. In the latter case, a master arm type device having the same structure as the robot arm 2 or a master arm type device having a different structure is used.

  Next, a process of defining a work space in which the robot arm 2 performs work as environment data and storing it in the environment data storage unit 4 will be described. The work space is a space constructed on the basis of information on an actual space including an initial position and a work position of the robot arm 2 and an intermediate position between the initial position and the work position. This work space is set using design information such as the facility where the work is performed, for example, three-dimensional CAD data, or is set using data collected by camera images and various sensors, or manually set. It may be possible to do so.

  More specifically, for example, an operation device and an input device (receiving device) constituting a three-dimensional CAD system capable of creating, storing, and correcting various three-dimensional shape models are associated with an operation device of the robot arm 2. That is, it is performed by inputting design information and collected data of a facility or the like to the above-described input device, or arbitrarily inputting facility information or the like, and setting a three-dimensional shape model corresponding to the above-described work space.

  Next, the repulsive force vector field generation processing unit 5 that performs a process of generating a virtual repulsive force vector field using the environmental data stored in the environment data storage unit 4 will be described. The repulsive force vector field is generated by setting a three-dimensional lattice on the work space and defining a repulsive force vector 21 at each lattice point. The repulsive force vector 21 sets the obstacle 20 in the work space as a generation source. The direction of the repulsive force vector 21 set at each lattice point is the normal direction of the obstacle surface, that is, the direction perpendicular to the obstacle surface, and the magnitude of the repulsive force vector 21 is set so as to increase as it approaches the obstacle. When there are a plurality of obstacles 20 on the work space, for example, the repulsive force vector 21 generated from the obstacle 20 closest to each lattice point is finally set as the repulsive force vector 21 of the lattice point.

  In FIG. 2, only the approximate direction of the repulsive force vector 21 is shown for the repulsive force vector field, and a three-dimensional lattice set on the work space is omitted. A cylindrical obstacle 20 is set in the work space, and a repulsive force vector 21 in a direction away from the obstacle 20 is set.

  When setting the repulsive force vector field, when the obstacle 20 has a complicated shape and has a shape or arrangement in which the hand 70 of the robot arm 2 is difficult to pass, such as having a protrusion or an extremely narrow portion, the repulsive force near the corresponding location Weighting such as increasing the vector 21 may be performed.

  Next, the virtual force generation processing unit 6 will be described. The virtual force generation processing unit 6 acquires joint angle information from the robot arm 2 via the robot controller 3, and calculates the absolute position of the hand 70 of the robot arm 2 and each joint position from the installation point of the robot arm by forward kinematics calculation. Absolute posture is calculated.

  Further, the model of the robot arm 2 is set. An example of model setting will be described with reference to FIG. In FIG. 3, the three-dimensional shape model 30 of the robot arm 2 is set in the environment data stored in the environment data storage unit 4 described above, and the repulsive force received from the repulsive force vector field is applied to the set three-dimensional shape model 30. A plurality of points 31 are defined.

  The representative point 31 is set to the outer shape and the inside of the robot arm 2 in order to avoid interference with the obstacle 20. For example, in the case of the three-dimensional shape model 30 of the robot arm 2 as shown in FIG. 3, the representative points 31 are set evenly on the outer surface of the rectangular parallelepiped or the cylindrical portion that is a component of the model. In order to avoid complication of the figure, some representative points 31 are omitted in FIG. In addition, when the hand 70 that is a part of the moving body has a work tool or the like, the representative point 31 is also set on the hand 70 when there is a size that may cause interference with an obstacle.

  Similarly, the representative point 31 also calculates the absolute position by forward kinematics calculation from the installation point of the robot arm.

  Next, the repulsive force in the magnitude and direction of the repulsive force vector field 21 generated by the repulsive force vector field generation processing unit 5 is applied to the representative point 31 of the three-dimensional shape model 30 of the robot arm 2 described above for each link of the robot arm 2. Calculate the total repulsive force and the total moment acting on the joint axis associated with each link.

  Next, the calculated repulsive force and moment acting on the robot arm 2 are divided by the number of representative points 31 set for each link, and the average of each is calculated for each link with the joint axis as the reference position.

  Further, by using the Jacobian matrix J that converts the current joint angular velocity of the robot arm 2 to the velocity of the hand 70 in Cartesian coordinates, the repulsive force average (Fx, Fy, Fz) calculated for the hand 70 and each link is obtained. From the moment average (Mx, My, Mz), the torque τ acting on each joint axis is obtained by the following equations (1) to (3).

τ = J ^T F (1)
τ = (τ ₁ , τ ₂ , τ ₃ ,..., τ _n−1 ) ^T (2)
_{F = (F x, F y} , F z, M x, M y, M z) T ··· (3)
Here, n is a number counted from the base side of the joint axis.

  For example, it is obtained from F acting on a certain joint axis. The torque τ is the torque τ of the joint axis on the installation point side (the side farther from the hand 70) of the robot arm 2 than the joint axis. In the case of F acting on the hand 70, the torque τ is acting on all joint axes. . The sum of the calculated torque τ for each joint axis is the final torque τ acting on the joint axis.

  Finally, when the robot arm 2 operates in response to a command from the remote control unit 1, the robot controller 3 calculates the control command value from the torque τ and the torque τ calculated by the virtual force generation processing unit 6 described above. Add joint speeds. Here, the joint speed is calculated assuming that there is a proportional relationship with the torque τ.

  As described above, the virtual force generation processing unit 6 calculates the torque τ and the joint speed from the repulsive force acting on the robot arm 2 and suppresses the movement toward the obstacle 20 when the robot arm 2 is remotely operated. As described above, the robot controller 3 adds the torque τ and the joint speed to the control command value from the remote control unit 1.

  Further, the torque τ and the joint speed added to the control command value from the remote control unit 1 may be applied only to the control command value of the position and orientation of the hand 70 of the robot arm 2 or each joint of the robot arm 2 You may make it act with respect to the steering command value of an axis | shaft. When acting only on the position / posture of the hand 70 of the robot arm 2, the entire posture of the robot arm 2 can be automatically generated using the torque τ and joint speed calculated by the virtual force generation processing unit 6.

  The advantage of calculating the torque acting on each joint axis using the Jacobian matrix in the virtual force generation processing unit 6 is that the calculation is easy because it can be calculated from forward kinematics. In general, it is necessary to solve inverse kinematics in order to calculate the posture of the robot arm 2 from the position and posture of the hand 70 of the robot arm 2, that is, each joint angle. There is a problem that the calculation load is large.

  Further, it is possible to determine that the distance between the robot arm 2 and the obstacle 20 is equal to or less than a certain distance by referring to the torque τ calculated by the virtual force generation processing unit 6. Present with image display, warning lamp, warning sound, etc.

  Further, the display unit 11 can display a model of the robot arm 2 configured from the posture information of the robot arm 2 in the environment data stored in the environment data storage unit 4. Further, a camera image such as a camera attached to the installation position of the robot arm 2 or a camera attached to the hand 70 of the robot arm 2 is acquired through the camera image acquisition unit 8 and processed by the image processing unit 9, and then the display unit 11. Can be displayed. The operator can grasp the positional relationship and posture status with the obstacle 20 around the robot arm 2 by operating while viewing the display unit 11.

  Further, regarding the setting of the repulsive force vector field, when the moving obstacle 20 is set, it is also possible to perform processing for updating the repulsive force vector field in real time. When the movement range of the obstacle 20 is determined, the entire movement range of the obstacle 20 can be set as one obstacle 20. In addition, the design vector of the structure and the information of the actual work environment can be collected and the repulsive vector field can be set, so it can be applied to any facility at the design / planning stage or already constructed. It is.

  Further, when calculating the amount of change in the joint axis angle based on the torque acting on each joint axis, the ease of movement for each joint can be set by setting the weighting coefficient for each joint.

  Furthermore, since the weighting factor is variable, when the posture of the robot arm 2 approaches a singular posture, the singular posture can be avoided by changing the ease of changing the angle of the joint axis related to the singular posture. can do.

  In the case of a force feedback robot arm, the operator returns the torque τ calculated by the virtual force generation processing unit 6 from the robot controller 3 to the remote control unit 1, so that the operator can move the robot arm 2 closer to the obstacle 20. The reaction force is received at the remote control unit 1. Therefore, since the force feedback type robot arm can be operated based on the virtual reaction force information returned to the remote control unit 1, a better operational feeling than the symmetric type robot arm can be obtained.

  In addition, when the environment data set by the three-dimensional CAD data or the like and stored in the environment data storage unit 4 is deviated from the actual environment, the environment data correction unit 10 can correct it. The environment data correction unit 10 corrects the position / orientation and shape of the obstacle 20 existing in the vicinity using image data obtained by, for example, a camera.

  A specific example will be described below. First, when the camera is a stereo camera capable of capturing the shape of the obstacle 20 in three dimensions, or when the camera is a moving camera capable of capturing the shape of the obstacle 20 in three dimensions by moving the camera itself, It is conceivable that the camera is an active camera that can capture the shape of the obstacle 20 in three dimensions by attaching the camera to the hand 70 of the robot arm 2 and moving the robot arm. A stereo image of the obstacle 20 can be obtained by the configuration of the camera described above, and a three-dimensional shape can be restored by determining corresponding points on the two images of the stereo image. Three-dimensional model matching is performed between the obtained three-dimensional shape and the three-dimensional shape of the obstacle 20 on the environmental data, and the position / posture and shape of the obstacle 20 are corrected.

  With the robot arm operation system having the above configuration, when the robot arm 2 approaches the obstacle 20, the operation toward the obstacle 20 is gradually suppressed by the virtual reaction force acting on the robot arm 2 from the repulsive force vector field. Therefore, interference with the obstacle 20 can be prevented. As a result, the operator can easily operate the robot arm 2 to the target position without causing interference.

[Second Embodiment]
A second embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment, and the overlapping description is abbreviate | omitted. FIG. 4 is a block diagram showing the configuration of the second embodiment of the robot arm operation system according to the present invention. FIG. 5 is a schematic perspective view showing an outline of a robot arm and an obstacle in the second embodiment of the robot arm operation system according to the present invention.

  As shown in FIG. 4, the robot arm operation system includes a remote control unit 1, a virtual force generation processing unit 6 that calculates a virtual repulsive force, and a robot controller 3 that generates an operation command value for the robot arm 2. , An approach degree presentation unit 7, a distance sensor unit 40, and a detection circuit unit 41.

  As shown in FIG. 5, the distance sensor unit 40 includes a number of distance sensors 42 arranged on the surface of the robot arm 2. The distance information from the distance sensor 42 detected by the distance sensor 42 to the nearest obstacle 20 is processed by the detection circuit unit 41, and the repulsive force at the place where the distance sensor 42 is arranged is calculated by the virtual force generation processing unit 6. The robot controller 3 controls the remote control unit so that the torque τ and the joint speed are calculated from the repulsive force acting on the robot arm 2 and the movement toward the virtual obstacle 51 is suppressed when the robot arm 2 is remotely operated. Torque τ and joint speed are added to the steering command value from 1.

  The distance sensor 42 must be arranged on the surface of the robot, it is desirable to reduce the number of wires, and wirelessly transmit signals and power, so it was created by MEMS (Micro Electro Mechanical Systems) technology, etc. A chip-like passive sensor can be considered.

  With the robot arm operation system having the above configuration, when the robot arm 2 approaches the obstacle 20, the repulsive force at the location is calculated from the distance information measured by the distance sensor 42, and the torque τ is applied to the robot arm 2 based on the repulsive force. Since the movement in the direction of the obstacle 20 is gradually suppressed by applying the joint speed, the interference with the obstacle 20 can be prevented. As a result, the operator can easily operate the robot arm 2 to the target position without causing interference.

[Third Embodiment]
A third embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment, and the overlapping description is abbreviate | omitted.

  FIG. 6 is a block diagram showing the main configuration of the robot arm operation system according to the present embodiment. FIG. 7 is a diagram showing an outline of the robot arm operation system according to the present embodiment.

  As shown in FIG. 6, the robot arm operation system of the third embodiment includes a remote control unit 1, a repulsive force vector field generation processing unit 5, a virtual force generation processing unit 6 that calculates a virtual repulsive force, and a robot A robot controller 3 that generates an operation command value for the arm 2, an approach degree presentation unit 7, and a virtual obstacle setting processing unit 50 are included.

  Processing performed in the robot arm operation system of this embodiment will be described with reference to FIGS. 6 and 7.

  In the first embodiment, the environment data stored in the environment data storage unit 4 is set with a three-dimensional shape model corresponding to the work space. However, the virtual obstacle setting processing unit 50 stores the environment data in the work space. A virtual obstacle that does not actually exist is set. The virtual obstacle is, for example, heat, radiation, magnetic field, or the like that adversely affects the electronic circuit or frame of the robot arm 2 when the robot arm 2 approaches. Since heat, radiation, and a magnetic field have intensity distribution, the repulsive force vector field generation processing unit 5 can set repulsive force using this intensity distribution. For heat, radiation, and magnetic field, the intensity distribution can be measured using various measuring devices such as an infrared sensor, a radiation sensor, and a magnetic field sensor.

  Using the repulsive force set from the strength distribution of the virtual obstacle 51, the virtual force generation processing unit 6 calculates the torque τ and the joint speed from the repulsive force acting on the robot arm 2, and the virtual obstacle 51 is operated during remote operation of the robot arm 2. The robot controller 3 adds the torque τ and the joint speed to the operation command value from the remote control unit 1 so as to suppress the movement in the direction approaching.

  In addition, the virtual obstacle setting processing unit 50 according to the present embodiment can be combined with the environmental data according to the first embodiment, such as heat, radiation, and magnetic field having intensity distribution on the three-dimensional shape model of the environmental data. By superimposing information, it is possible to perform operation support that avoids both obstacles and virtual obstacles.

[Fourth Embodiment]
A fourth embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment, and the overlapping description is abbreviate | omitted.

  Processing performed in the robot arm operation system of the present embodiment will be described with reference to FIG. In this embodiment, the basic configuration is the same as that of the first embodiment, but in the virtual force generation processing unit 6, the target point 60 based on the current position of the hand 70 of the robot arm 2 and the position deviation of the target point 60. A direction attractive force vector 61 is applied to the hand 70 of the robot arm 2. At this time, the magnitude of the attractive force vector 61 is calculated and set from a component proportional to the positional deviation amount, for example.

  Further, the torque τ and the joint speed are calculated from the attractive force vector 61 applied to the hand 70 of the robot arm 2 by the same method as in the first embodiment, and the direction toward the target point 60 when the robot arm 2 is remotely operated is calculated. The robot controller 3 adds the torque τ and the joint speed to the operation command value from the remote control unit 1 so as to guide the operation.

  With the robot arm operation system having the above configuration, when the robot arm 2 approaches the obstacle 20, the operation toward the obstacle 20 is gradually suppressed by the virtual reaction force acting on the robot arm 2 from the repulsive force vector field. Therefore, interference with the obstacle 20 can be prevented. Further, an attractive force directed to the target point 60 acts on the hand 70 of the robot arm 2 so that the operator is guided to the target position 60 without interfering with the robot arm 2 to the target position. It becomes possible to operate with a sense.

  In addition, by locking the posture of the hand 70 of the robot arm 2 operated by the remote control unit 1 in the direction of the attractive vector 61 described above, the operator can determine which direction the target point 60 is in the hand of the robot arm 2. You can understand by looking at 70.

  As described above, the robot arm operation system according to the present invention has been described using a plurality of embodiments. However, the robot arm operation system described above is a system including an input device, a calculation device, and an output device on which functions for performing each process are implemented. For example, a general personal computer incorporating a program for performing each process can be used.

  The embodiments described above are merely examples, and the present invention is not limited to these. The embodiments can be variously modified or partially omitted within the scope of the claims or the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Remote control part 2 Robot arm 3 Robot controller 4 Environmental data storage part 5 Repulsive force vector field generation process part 6 Virtual force generation process part 7 Approach degree presentation part 8 Camera image acquisition part 9 Image processing part 10 Environmental data correction part 11 Display part 20 obstacle 21 repulsive force vector 30 robot arm three-dimensional shape model 31 representative point 40 distance sensor unit 41 detection circuit unit 42 distance sensor 50 virtual obstacle setting processing unit 51 virtual obstacle 60 target point 61 attractive force vector

Claims (9)

A remote control unit for operating the robot arm based on an operation command value received in real time remotely from the robot arm;
An environment data storage unit for storing environment data including a three-dimensional shape model of an obstacle in the work environment in which the robot arm can operate and which may interfere with the operation of the robot arm;
A repulsive force vector field generation processing unit for setting a virtual repulsive force vector field so that the repulsive force vector becomes larger as the distance from the obstacle in the work environment is closer;
A virtual force generation processing unit that calculates a virtual repulsive force in a direction away from the obstacle with respect to the robot arm using the repulsive force vector field;
A robot controller that generates an operation command value for the robot arm by combining a virtual repulsive force calculated by the virtual force generation processing unit and a control command value from the remote control unit;
A robot arm operation system comprising:   The robot arm operation system according to claim 1, wherein the obstacle includes a virtual obstacle that does not actually exist as an object. A remote control unit for operating the robot arm based on an operation command value received in real time remotely from the robot arm;
A plurality of distance sensors that are attached to a plurality of locations of the robot arm and detect distances from obstacles in a work environment in which the robot arm can operate and which may interfere with the operation of the robot arm;
A virtual force generation processing unit that calculates a virtual repulsive force in a direction away from the obstacle with respect to the robot arm based on the distance detected by the distance sensor;
A robot controller that generates a motion command value for the robot arm by combining a virtual repulsive force calculated by the virtual force generation processing unit and a control command value from the remote control unit;
A robot arm operation system comprising: The tip of the robot arm constitutes a hand,
The virtual force generation processing unit calculates the virtual repulsive force, calculates a virtual attractive force in a target position direction with respect to the hand,
The robot controller generates an operation command value for the robot arm by combining a virtual repulsive force and a virtual attractive force calculated by the virtual force generation processing unit and a control command value from the remote control unit. The robot arm operation system according to any one of claims 1 to 3, wherein: The tip of the robot arm constitutes a hand,
The virtual force generation processing unit calculates the virtual repulsive force, calculates a virtual attractive force such that the hand is directed toward the target position,
The robot controller combines the virtual attractive force calculated by the virtual force generation processing unit and the operation command value from the remote control unit, so that the operation command to the robot arm so that the hand faces the target position direction. The robot arm operation system according to any one of claims 1 to 4, wherein a value is generated.   It further has an approach degree presentation unit that presents an approach degree between the robot arm and the obstacle to the remote control unit based on a virtual repulsive force calculated by the virtual force generation processing unit. The robot arm operation system according to any one of claims 1 to 5. A camera image acquisition unit that captures the obstacle and acquires image data;
An image processing unit for calculating the position and shape of the obstacle based on the image data acquired by the camera image acquisition unit;
Have
The robot arm operation system according to any one of claims 1 to 6, wherein the environmental data is generated based on a position and a shape of the obstacle obtained by the image processing unit. . In a robot arm operation method for remotely operating a robot arm,
An operation command value receiving step for receiving an operation command value for operating the robot arm in real time;
An environment data storage step for storing environment data including a three-dimensional shape model of an obstacle that can be an obstacle to the operation of the robot arm in a work environment in which the robot arm is operable;
A repulsive force vector field generating step of setting a virtual repulsive force vector field so that the repulsive force vector becomes larger as the distance from the obstacle in the work environment is closer;
A virtual force generation step of calculating a virtual repulsive force in a direction away from the obstacle with respect to the robot arm using the repulsive force vector field;
An operation command value generation step for generating an operation command value for the robot arm by combining the virtual repulsive force calculated in the virtual force generation step and the operation command value;
A robot arm operating method characterized by comprising: In a robot arm operation method for manipulating the robot arm based on a maneuver command value received in real time from a remote to the robot arm,
A distance detection step of detecting distances from obstacles that are in a work environment in which the robot arm can operate and that may interfere with the operation of the robot arm by a plurality of distance sensors attached to a plurality of locations of the robot arm; ,
Based on the distance detected in the distance detection step, a virtual force generation step of calculating a virtual repulsive force in a direction away from the obstacle with respect to the robot arm;
An operation command value generation step for generating an operation command value for the robot arm by combining the virtual repulsive force calculated in the virtual force generation step and the operation command value;
A robot arm operating method characterized by comprising:

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