JP2548241B2 - Controller for master / slave manipulator - Google Patents

Description

The present invention relates to a control device suitable for improving the operability of a master / slave type manipulator.

[Prior Art] In a manipulator, a so-called joystick manipulator in which a slave manipulator moves at a speed corresponding to a position of an input lever, and a so-called joystick manipulator in which a slave manipulator moves so as to correspond to a position of a so-called manipulator There are master / slave manipulators.

[Problems to be Solved by the Invention] In the joystick manipulator, since the position of the input lever corresponds to the speed of the slave manipulator,
The operator can move the slave manipulator largely with a small motion, but cannot accurately position the slave manipulator or perform a fine motion.

On the other hand, in the master / slave manipulator, since the position of the master manipulator, which is the input device, corresponds to the position of the slave manipulator, it is possible to perform accurate positioning of the slave manipulator and fine movement.
When moving the slave manipulator largely, the operator needs to perform a large motion.

As described above, the conventional manipulators have their respective problems.

An object of the present invention is to provide a controller for a master / slave manipulator that can switch the position or speed of a slave manipulator to correspond to the position of the master manipulator.

[Means for Solving Problems] A control device for a master / slave manipulator according to the present invention includes a master manipulator, a slave manipulator, a force detector for detecting a force applied to the master manipulator, a positioning device for the master manipulator, and a slave. In a master / slave manipulator provided with a manipulator positioning device, a master / slave arithmetic circuit that outputs an integrated value of an input signal as a command value to the master manipulator positioning device and the slave manipulator positioning device, and a proportional to the input signal A joystick arithmetic circuit that outputs a value as a command value to the positioning device of the master manipulator and an integrated value of the input signal as a command value to the positioning device of the slave manipulator, and the force signal from the force detector. And a switching means for switching and connecting the signal as an input signal to one of the two arithmetic circuits.

[Operation] When the force applied by the operator to the master manipulator is connected to the master / slave arithmetic circuit by the switching means, the master manipulator and the slave manipulator make exactly the same movement, and when the operator releases the hand, the force becomes zero. Therefore, both the master manipulator and the slave manipulator hold their respective positions at that time. That is, since the positions of the master manipulator and the slave manipulator correspond to each other, the slave manipulator can be accurately positioned and a fine operation can be performed.

Also, when the force applied by the operator to the master manipulator is connected to the joystick arithmetic circuit by the switching means, the master manipulator will be in a position proportional to the force applied by the operator, while the slave manipulator will have a speed proportional to the force. When the operator releases the hand, the force becomes zero, so that the master manipulator returns to the original position at the time of switching by the switching means, and the slave manipulator holds the position at the time of releasing the hand. That is, the operator can move the slave manipulator largely with a small motion.

[Examples] Examples of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of a master / slave manipulator provided with a control device of the present invention. In this figure, 1 is a master manipulator, 2 is an actuator for driving the master manipulator 1, and 3 is a tip of the master manipulator 1. A force detector for detecting the force applied by the operator, 4 a gripper held by the operator, 5 a slave manipulator, 6 an actuator for driving the slave manipulator, 7 an end effector, 8 a control device according to the present invention, Reference numeral 9 is a switch, 10 is a master manipulator positioning device, and 11 is a slave manipulator positioning device.

An example of the configuration of the control device 8 described above will be described with reference to FIG. 12 is a master / slave arithmetic circuit,
It is composed of 13 and an integrator 14. Reference numeral 15 is a joystick arithmetic circuit, which is composed of a coefficient unit 16 and an integrator 17. Reference numeral 18 is a switch for connecting the force signal from the force detector 3 to the master / slave arithmetic circuit 12 or the joystick arithmetic circuit 15 by the signal of the switch 9, and 19 is an output signal 121 from the master / slave arithmetic circuit 12 and a joint signal. This is an adder for adding the output signal 151 from the coefficient unit 16 of the stick operation circuit 15, and the added signal is output to the positioning device 10 of the master manipulator. Reference numeral 20 denotes an adder that adds an output signal 122 from the master / slave arithmetic circuit 12 and an output signal 152 from the joystick arithmetic circuit 15, and the added signal is output to the positioning device 11 of the slave manipulator.

FIG. 3 shows a time chart of the operation of the master / slave manipulator in the above embodiment, and FIG. 3 (i) shows the force signal as a master signal when the switch 9 is switched.
This is the case when inputting to the slave arithmetic circuit 12, as shown in FIG.
i) shows the case where the force signal is input to the joystick operation circuit 15, (a) shows the force signal, (b) shows the movement of the master manipulator, and (c) shows the movement of the slave manipulator. is there.

Next, the operation of the above-described embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to the drawings.

First, a case where a force signal is input to the master / slave arithmetic circuit 12 by the switch 9 as shown in FIG. 2 will be described. In this state, the operator holds the grip 4 and gradually increases the force from time t ₀ as shown in (a) of FIG. 3 (i), and then keeps the force constant from t ₁ to t ₂ , When the operation for returning to zero at t ₃ is performed, the master / slave arithmetic circuit 12 integrates the values 121 and 122 obtained by multiplying the force signal by a certain coefficient to determine the positioning device 10 of the master manipulator.
And a command value to the positioning device 11 of the slave manipulator. And each positioning device 10,1
1 controls the actuators 2 and 6 so that the positions of the master manipulator and the slave manipulator follow the command value. In FIG. 1, 101,1
Reference numeral 11 is an actuator drive signal, and 102 and 112 are manipulator position feedback signals. By performing such control, the master manipulator 1 and the slave manipulator 5 operate as shown in FIG. 3 (i) and stop at the positions of M1 and S1, respectively.

Next, the switch 9 is switched from this state, the force signal is input to the joystick operation circuit 15, and when the operator applies a force as shown in (a) of FIG. 3 (ii), the master manipulator 1 becomes Back again force temporarily moved from the position M ₁ to operate by the position command value proportional to the force at time t _'3 in the position M ₁ returned to zero. However, slave manipulator 5
Operates with the position command value that integrates the force, so position S ₁
When the force is returned to zero and the force is returned to zero, it stops at the position of S ₂ at time t ′ ₃ .

In the above description, the master and slave manipulators are described as having one axis for easy understanding, but the present invention is also realized by using coordinate conversion even in the case of a manipulator having one or more axes.

The present invention is also applicable to a so-called bilateral master-slave manipulator in which the force applied to the slave manipulator is fed back to the master manipulator.

[Effects of the Invention] According to the present invention, it is possible to easily switch between the joystick manipulator and the master / slave manipulator simply by operating the switching means. Therefore, accurate positioning and precise operation of the slave manipulator can be performed, and operation can be performed. Since the slave manipulator can be largely moved by a small motion of a person, the operability of the master / slave manipulator is greatly improved.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of a master / slave manipulator provided with a control device of the present invention, FIG. 2 is a diagram showing a configuration of an example of the control device 8 in FIG. 1, and FIG. ),
(Ii) is a diagram showing a time chart of the operation of the master / slave manipulator in the embodiment. 1 ... Master manipulator 3 ... Force detector 5 ... Slave manipulator 8 ... Control device, 9 ... Switch 10 ... Master manipulator positioning device 11 ... Slave manipulator positioning device 12 ... Master / slave operation Circuit 15 …… Joystick operation circuit 18 …… Switcher

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroshi Yamamoto, 502 Jinrachicho, Tsuchiura-shi, Ibaraki Prefecture, Machinery Research Laboratory, Hitachi, Ltd. In-house

Claims (1)

(57) [Claims] 1. A master / slave manipulator including a master manipulator, a slave manipulator, a force detector for detecting a force applied to the master manipulator, a master manipulator positioning device, and a slave manipulator positioning device. A master / slave arithmetic circuit that outputs an integrated value as a command value to the positioning device of the master manipulator and a positioning device of the slave manipulator, and a value proportional to an input signal is output and input as a command value to the positioning device of the master manipulator. A joystick arithmetic circuit that outputs the integrated value of the signal as a command value to the positioning device of the slave manipulator, and a switching hand that switches and connects the force signal from the force detector to one of the arithmetic circuits as an input signal. Control device of a master-slave manipulator, characterized by comprising and.