JP2836577B2 - Manipulator operation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator operating device, and more particularly to a manipulator operating device of a force sense feedback type.

[0002]

2. Description of the Related Art FIG. 4 shows a conventional example. This is "199
March 22, 5th, IEEJ Technical Meeting, Material System and Control Study Group SC-95-15 ", in which a person operates the slave manipulator 51 displayed on the screen 50.
When the master manipulator 53 is operated while visually confirming the positional relationship of the work object 52, the slave manipulator 51 operates so as to mimic the operation of the master manipulator.

FIG. 5 shows another conventional example. FIG.
(A) is an articulated manipulator that directly contacts a work object in a real space. On the other hand, reference numeral 55 in FIG.
Shows a plurality of actuators attached to the fingers of an operator to create a virtual reality space. The actuator 55 gives a sense of resistance to the movement of a human finger by electricity, pneumatic pressure, hydraulic pressure, or the like, and the pressure generated between the articulated manipulator and the work object shown in FIG. It is used for the purpose of giving feedback to

[0004]

However, in the former conventional example, the operator performing the manipulator operation estimates the operation amount of the slave manipulator based on only the visual information so as not to destroy or damage the work object. And the operation is difficult unless a very skilled and experienced person. This point
It was just mentioned in "Introduction to Robotics Eiji Nakano 77".

On the other hand, in the case of the latter, as the number of joints of the manipulator increases, the number of actuators mounted on the fingers of the operator needs to increase accordingly, so that the actuators interfere with each other and the degree of freedom of movement of the operator. Had the disadvantage of becoming smaller.

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to improve the inconvenience of the prior art, and in particular to provide a manipulator operating device having a large degree of freedom and a wide movable range.

[0007]

According to the first aspect of the present invention, there is provided a manipulator for applying an external force to a work object, a front end for operating the manipulator, and a front end for the manipulator. And a central control unit for inputting an operation signal according to the operation of (1) to the manipulator. Among these, the manipulator is provided with a pressure detecting means on a contact surface with the work object. on the other hand,
The front end unit includes a resistance unit that gives a resistance to the operator according to a control signal input from the outside. Then, the central control unit controls the resistance provided to the operator from the resistance unit of the front end unit in accordance with the output of the pressure detection means provided in the manipulator. In particular, the resistance unit at the front end section encloses the electrorheological fluid in a container and pairs the container with the electrorheological fluid.
Of the electrodes. Among them, a pair of electrode plates
Can be attached to the container and can be flexibly operated together with the container
Noh is adopted.

According to the present invention, when the manipulator operates and comes into contact with the work object, the internal force generated between the manipulator and the work object is detected by the pressure detecting means and input to the central control unit.
The central control unit controls the resistance applied to the operator by changing the viscosity of the electrorheological fluid contained in the resistance unit in accordance with the output of the pressure detecting means. As a result, a feeling of pressure equivalent to the pressure generated between the manipulator and the work target is acquired by the operator.

According to the second aspect of the present invention, the resistance unit can be mounted on a joint of a finger of an operator. For example, a member attached to a joint position of a glove member, a member attached to a joint part, and the like can be considered.

[0010] According to the present invention, resistance to the movement of the operator's finger is reduced.
By being provided, between the manipulator and the work object
Is felt by the operator.

Accordingly, the above-mentioned object is to be achieved.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIG.
This will be described with reference to FIG.

The manipulator operating device shown in FIG. 1 includes a manipulator 4 for applying an external force to a work object, a front end unit 1 for operating the manipulator 4,
An operation signal 104 corresponding to the operation of the front end unit 1
Is input to the manipulator 4. Among these, the manipulator 4 is provided with a pressure sensor 43 as pressure detecting means on a contact surface with the work object. On the other hand, the front end unit 1 includes an electrorheological fluid unit 12 as a resistance unit for giving a resistance to the operator according to a control signal 101 input from the outside. Then, the central control unit 2 controls the resistance provided to the operator from the resistance unit 12 of the front end unit 1 in accordance with the output 106 of the pressure sensor 43 provided in the manipulator 4. In particular, the electrorheological fluid unit 12 of the front end unit 1 includes an electrorheological fluid whose viscosity can be changed according to the external signal 101. The electrorheological fluid unit 12 is configured such that an electrorheological fluid is sealed in a bag-like member, and the bag-like member is sandwiched between a pair of electrode plates, so that the electrorheological fluid unit 12 can be attached to a finger joint of an operator.

More specifically, in this embodiment, the front end unit 1 includes a motion detecting means A11 for detecting a motion of a finger of an operator, in addition to the electrorheological fluid unit 12 described above. Hereinafter, description will be made with reference to FIG.

FIG. 2 is a perspective view showing the structure of the front end unit 1. As shown in FIG. In the present embodiment, the motion detection means A11
Is a data glove, and when the operator moves the data glove, the fingertip position information 103 is input to the central control unit 2. An electrorheological fluid unit 12 is attached to a finger portion of the data glove at a position corresponding to the joint. Hereinafter, description will be given based on FIG.

One electrorheological fluid unit 12 is composed of a container 122 and a pair of electrode plates 121. An electrorheological fluid is put in the container 122 and hermetically sealed. Are arranged in a sandwich shape. The pair of electrode plates 121 is a container 122
, And can flexibly operate together with the container 122. Electrorheological fluid unit 12
When the front end unit 1 is mounted on the body of the operator, the front end unit 1 is located just at the joint of the operator.

Returning to FIG. 1, the central control section 2 is constituted by a microcomputer, and realizes various control functions by sequentially executing control programs prepared in advance. For example, the central control unit 2 moves the manipulator 4 in accordance with the movement of the front end unit 1, determines whether or not the manipulator 4 has touched an object, and determines the magnitude of the force at the time of touching, The magnitude of the force sensation given to the front end unit 1 is determined, and control for synchronizing the operation result of the electrorheological fluid control unit 3 with the determination result of the movement of the front end unit 1 as position information is executed.

An electrorheological fluid control unit 3 for generating a voltage 101 for controlling the front end unit 1 is also provided in the central control unit 2. The electrorheological fluid control unit 3 has a D / A
A converter is provided, and an operation amount represented by a digital signal output from the central control unit 2 is applied to the electrorheological fluid unit 12 as an analog signal.

On the other hand, the manipulator 4 has a multi-joint manipulator (FIG. 5A) that resembles a human hand as a main body.
A driving unit 41 for operating a finger portion of the manipulator body in accordance with an operation signal 104 output from the central control unit 2
And the movement of the finger of this manipulator body
Motion detection means B42 input to central control unit 2 as 05
And a pressure sensor 43 attached to a finger portion of the manipulator body. Here, the drive unit 41 is, for example, a stepping motor, and the motion detection unit B42
Is, for example, a potentiometer, and the pressure sensor 43
Is, for example, a piezoelectric element.

Next, the overall operation of this embodiment will be described.
Here, it is assumed that the manipulator body is positioned in advance on the work target.

The operator holds the data glove to which the electrorheological fluid unit is attached, and performs a gesture of grasping the work object while remotely monitoring the state of the manipulator with the naked eye or an image. The deformation of the data glove due to this operation is detected by sensors provided in each part of the data glove, and is input to the central control unit 2 from the movement detecting means A11 as finger position information 103.
The central control unit 2 operates the manipulator 4 according to the position information 103 of the data glove acquired from the front end unit 1.
Is calculated, and the operation signal 104 is input to the drive unit 41. As a result, the finger portion of the manipulator body is controlled so as to imitate the movement of the operator. That is, the operation of grasping the work target is energized on the finger portion of the manipulator body. At this time, the position deviation 105 of the manipulator main body is detected by the motion detecting means B42, and is fed back to the central controller 7.

Then, when the finger portion of the manipulator body comes into contact with the work object, the internal force generated between the finger portion and the work object is detected by the pressure sensor 43, and the position of contact with the work object is determined. The motion is detected by the motion detecting means B42 and is input to the central control unit 2 respectively.
The central control unit 2 inputs to the electrorheological fluid control unit 3 the determination as to whether or not the work object has been touched and the magnitude of the force sensation when touched. The electrorheological fluid control unit 3 having obtained the information 102 applies the voltage having the magnitude of the force sensation determined by the central control device 2 to the electrode plate 121 to apply the voltage to the electrorheological fluid sealed in the container 122. An electric field is applied to increase the viscosity. As a result, the movement of the joint is suppressed by the electrorheological fluid unit 12 attached to the joint part of the body, and the result of the movement of the manipulator 4 is obtained to the operator as feedback of a force sensation.

According to this, since the resistance unit is formed by using the electrorheological fluid, the unit can be downsized. Even when the units are arranged at high density, the mechanical actuator as in the conventional example can be used. As compared with, an operational feeling with a high degree of freedom and a wide movable range can be realized. In addition, since the resistance unit can be arranged at a higher density than before, it is possible to simulate the force sensation fed back in more detail, and operability as if actually touching the work object Can also be improved.

Here, the electrorheological fluid unit need not be mounted on the finger joint of the operator, but may be mounted on an optimal position according to the type of manipulator. Also, the configuration need not be such that a bag in which an electrorheological fluid is sealed is sandwiched between electrode plates.

[0025]

The present invention is constructed and functions as described above. According to this, since the resistance unit is formed using the electrorheological fluid, the unit can be downsized. Even in the case of high-density arrangement, it is possible to realize an operation feeling with a high degree of freedom and a wide movable range as compared with a mechanical actuator as in the conventional example. In addition, since the resistance unit can be arranged at a higher density than before, it is possible to simulate the force sensation fed back in more detail, and operability as if actually touching the work object This makes it possible to provide an unprecedented superior manipulator operating device capable of improving the performance.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a perspective view illustrating a configuration of a front end unit.

FIG. 3 is an enlarged view of a main part showing a main part configuration of a front end part.

FIG. 4 is an explanatory diagram showing a first conventional example.

FIG. 5 is a schematic configuration diagram showing a second conventional example, and FIG.
5A shows the articulated manipulator, and FIG. 5B shows a state where a mechanical actuator is attached.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Front end part 2 Central control part 4 Manipulator 12 Electrorheological fluid unit (resistance unit) 43 Pressure sensor (pressure detection means) 101 Control signal 104 Operation signal

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-8-90458 (JP, A) JP-A-8-90472 (JP, A) JP-A-8-314626 (JP, A) Akino Sano, No.3, “Application of electrorheological fluid to a variety of mechanical sensation display devices”, Proc. 953-1, February 20, 1995, p. 150-151 (58) Field surveyed (Int.Cl. ⁶ , DB name) B25J 3/00 B25J 13/02 F15B 21/06

Claims (2)

(57) [Claims] A manipulator for applying an external force to a work object; a front end unit for operating the manipulator; and a central control unit for inputting an operation signal corresponding to the operation of the front end unit to the manipulator. The manipulator includes a pressure detection unit on a contact surface with the work target, and the front end unit includes a resistance unit that applies a resistance to an operator according to a control signal input from the outside. The manipulator operating device, wherein the central control unit controls a resistance applied to the operator from the resistance unit of the front end unit in accordance with an output of a pressure detection unit mounted on the manipulator . The unit encloses the electrorheological fluid in a container
Then, the container is sandwiched between a pair of electrode plates, and the pair of electrode plates are in close contact with the container and together with the container.
Manipulators characterized by flexible operation
Operation device. 2. The apparatus according to claim 1, wherein the resistance unit can be mounted on a joint of a finger of the operator.
The manipulator operating device according to the above.