JP3411750B2 - Operation input device for manual manipulator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for a manual manipulator.

[0002]

2. Description of the Related Art A method for teaching the robot the work by guiding the arm tip of the robot, not limited to a handling manual manipulator for performing the construction work,
For example, there is a direct teaching method for a robot based on force control.

In this direct teaching method, a teaching operator (operator) applies a force to a hand effector provided at an arm tip of a robot, and the applied force is detected by a force sensor provided in a wrist section. Based on the force signal output by this force sensor, the control means is
Force control is performed and the operation of the robot arm is controlled so as to respond to the force applied to the hand effector. Then, the control means determines the moving speed and the moving direction of the hand effector, guides the hand effector to a target position, and stores the teaching data.

In this teaching method, Japanese Patent Laid-Open No. 3-123907 discloses an example in which the gain of the guiding speed with respect to the operating force can be changed so that the feeling of the guiding operation of the operator can be arbitrarily changed according to the work situation. Have been described. this is,
There is a mode in which the induction speed gain for the operating force is large and the hand effector is moved at high speed with a light operating force, and a mode in which the induction speed gain for the operating force is small and the hand effector is moved at a low speed with a heavy operating force. It is provided that these modes can be arbitrarily changed during the teaching work.

As a result, in the initial stage of the teaching work, the hand effector is moved at high speed with a light operating force to roughly position it, and in the final stage of the teaching work,
It is possible to move the hand effector with a heavy operating force to perform highly accurate positioning.

Further, in the direct teaching method, Japanese Patent Laid-Open No.
Japanese Patent No. 344505 describes that a speed limiter for suppressing the maximum value of the moving speed of the tip of the movable part of the robot body to a preset speed limit value is provided and the speed control by the speed limiter is realized. There is. This prevents the positioning error from becoming large due to an erroneous operation by the operator.

A robot hand effector is used as an operating lever,
If this operation lever and the force sensor are removed together from the arm tip of the robot, and a gripping device is attached to the removed location, an operation type handling manipulator having an operation device composed of the force sensor is obtained.

[0008]

However, in the above-mentioned conventional technique, the setting of the gain of the guide speed (hereinafter referred to as the guide speed gain) that determines the operation feeling of the operator and the limitation of the moving speed of the tip portion of the robot arm. The setting of the value is performed independently of each other, and the switching of the limit value of the moving speed is manually performed during the moving. Then, the change in the moving speed and the change in the operation feeling after switching the limit value were rapid.

As a result, the guiding speed gain is set large so that the manipulator's hand can be guided at high speed with a light operating force, and similarly, in order to avoid obstacles with the moving speed limit value set large, When the operation gain and the limiting value of the moving speed are reset to a low speed with a heavy operating force, the operation feeling immediately after that is a sudden change in the moving speed and a feeling of operation. Therefore, there is a problem that operability is lowered and work efficiency is lowered.

An object of the present invention is to automatically and gently change the moving speed and the speed limit of the manipulator according to the distance between the manipulator and the work object, thereby suppressing the shock caused by the switching of the operator. With
An object is to realize a manual manipulator operation input device capable of improving work efficiency by simplifying a complicated switching work between a guidance speed gain and a speed limit value.

[0011]

In order to achieve the above object, the present invention is configured as follows. In a manual manipulator operation input device having two or more degrees of freedom, an operation means for instructing an operation of the manipulator by an operator's operation, a distance calculation means for calculating a distance between an object and the manipulator, and an operation means The low-speed operation gain that determines the feeling of operation and the low-speed operation upper limit of the manipulator's moving speed, and the low-speed operation gain that is larger than the low-speed operation gain and the middle-speed operation upper limit that is larger than the low-speed operation upper limit are set. A mode setting unit having a medium speed mode storage unit for storing, a high speed operation gain larger than the medium speed operation gain, and a high speed mode storage unit for storing a high speed movement upper limit value larger than the middle speed movement upper limit value; When the calculated distance is within the first distance range, the low-speed operation gain and the low-speed shift stored in the low-speed mode storage unit are stored. When the upper limit value is selected and the distance calculated by the distance calculation means is within the range larger than the first distance and smaller than the second distance, the medium speed operation gain stored in the medium speed mode storage unit. If the distance calculated by the distance calculating means is larger than the second distance, the high-speed operation gain and the high-speed movement upper limit stored in the high-speed mode storage unit are selected. , A mode selection unit to be output from the mode setting unit, and at least, when the manipulator moves in a direction of approaching the object, the operation gain and the movement upper limit value of the mode selected by the mode selection unit, and the operation unit An operation control unit that controls the operation of the manipulator according to the operation command.

[0012] Preferably, in the operation input device of the manual manipulator, when the manipulator moves in a direction away from the object, the operation control means sets the operation gain and the movement upper limit value of the mode selected by the mode selection means. Regardless of this, the operation of the manipulator is controlled according to the operation command from the operation means.

Further, preferably, in the operation input device of the manual manipulator, the operation control means, even when the manipulator moves in a direction away from the object, the operation gain and the movement upper limit of the mode selected by the mode selection means. The operation of the manipulator is controlled according to the value and the operation command from the operation means.

Further, in the operation input device of the manual manipulator, preferably, the medium-speed mode storage section has a first medium-speed operation gain and a first medium-speed mode having a first medium-speed movement upper limit value, A second middle speed mode having at least a second middle speed operation gain larger than the first middle speed operation gain and a second middle speed movement upper limit larger than the first middle speed movement upper limit; , Greater than the first distance and second
The range smaller than the distance is divided into a range corresponding to the first medium speed mode and a range corresponding to the second medium speed mode.

In the operation input device of the manual manipulator according to the present invention, in addition to the high speed mode having a high operation responsiveness and the low speed mode having a low speed and excellent operability, a high speed mode and a low speed mode are provided. In the meantime, the medium speed mode is set, and the high speed mode, the medium speed mode, and the low speed mode are automatically switched according to the distance between the manipulator and the object. The manipulator can be guided by its excellent operability without feeling tired.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. In the embodiments described below, the movement of an object gripped by the gripping device of the present invention,
This is an example when applied to an operation input device of a construction manipulator used for fitting work, stationary work, etc. (hereinafter referred to as a construction work manipulator).

FIG. 1 is a control block diagram of an operation input device of a manipulator for construction work according to a first embodiment of the present invention. This construction manipulator is an operating manipulator that is driven by the input of an operating device such as a lever.

In FIG. 1, a construction manipulator main body 1 having a driver's seat is composed of a work arm 2 having a plurality of degrees of freedom such as an arm, a boom and a swing, and one or more degrees of freedom such as a roll, a pitch and a yaw. Wrist mechanism part 3
The wrist mechanism section 3 can be provided with a working tool 4 such as a gripping device 4a.

A drive device such as a hydraulic cylinder is provided on the work arm 2 and the wrist mechanism portion 3, and each joint portion has a function of operating within a predetermined range. An angle meter 5 is installed at each joint to measure the angle of each joint. This angle is fed back to the control device 6 as an output of the angular velocity of each joint with respect to the command value of the operating device 7.

The control device 6 is composed of control means such as a directional control valve for controlling a computer or an actuator or a proportional solenoid valve for controlling the directional control valve.
The computer has a calculation program that calculates the rotational speed of each joint (axis) with respect to the input of the operating device 7 and calculates the current value to be input to the solenoid valve that drives each actuator.

The drive current corresponding to the input value of the operating device 7 is
It is sent to the proportional solenoid valve inside the hydraulic controller 16 and operates the proportional solenoid valve to control the actuator through the directional control valve.

The operating device 7 is composed of one or more operating levers having a six-axis force sensor capable of detecting operating forces in six directions, and inputs a manipulator guidance signal to the control device 6. This guidance signal is a signal of the operation force and the operation direction in the XYZ directions of the operation coordinate system, which can be arbitrarily set, and the rotation directions around the respective axes, and is represented by an operation vector <F> of 6 axes. The object grasped by the grasping device 4a is moved horizontally and vertically by the signal of the operation device 7, or the grasping device 4a is moved.
The posture of a can be changed.

Further, the operation device 7 can be constructed as a portable device carried by the operator as required, or can be constructed as a fixed device installed in a driver's seat.

Next, the internal structure of the control device 6 will be described. First, the operation vector <F> from the operation device 7 and the angle information from the goniometer 5 are supplied to the input calculation unit 8,
The input velocity vector <Vi> is calculated. Then, the calculated input velocity vector <Vi> is output to the direction determination unit 30 and the changeover switch 29 of the input conversion unit 13.

The direction discriminating section 30 determines the input velocity vector <V
From i>, it is determined whether the operation vector <F> from the operating device 7 indicates an operation command in a direction in which the manipulator approaches the work object or a direction in which the manipulator moves away from the work object. Then, in the case of the operation command in the direction in which the manipulator approaches the work target, the direction determination unit 30 sets the switch 29 to the operation gain calculation unit 21 side. When the manipulator issues an operation command in a direction away from the work object, the direction determination unit 30 sets the switch 29 to the angular velocity calculation unit 14 side.

When the direction discriminating section 30 sets the switch 29 to the operation gain calculating section 21 side, the input speed vector <Vi> from the input calculating section 8 is supplied to the operation gain calculating section 21 and selected by the switch 9. And the operation gain K12 from the mode parameter setting unit 10 is multiplied by K <V
i> is calculated.

Next, K <Vi> calculated by the operation gain calculator 21 is supplied to the speed limit value comparator 22.
Mode parameter setting unit 1 selected by the switch 9
It is compared to the speed limit vector <Vmax> above zero. Then, K <Vi> is larger than <Vmax>(<Vm
In the case of ax><K<Vi>),<Vmax> is output to the angular velocity calculation unit 14 as the target velocity vector <Vo>.

K <Vi> is smaller than <Vmax>(<<Vmax>
Vmax >> K <Vi>), the speed limit value comparison unit 2
2 is the speed limit value <Vmin> (K <Vi> below this <
Vmin> is calculated from <Vmax>), and K <V
When i> is smaller than <Vmin>(<Vmin> K <Vi>), <Vmin> is output to the angular velocity calculator 14 as the target velocity vector <Vo>. In other cases, the product of the operation gain K and the input velocity vector <Vi> is directly output to the angular velocity calculator 14 as the target velocity vector <Vo>.

When the direction discriminating unit 30 sets the switch 29 to the angular velocity computing unit 14 side, the velocity vector <Vi> from the input computing unit 8 is supplied to the angular velocity computing unit 14 as the target velocity vector <Vo>.

In the angular velocity calculator 14 to which the target velocity vector <Vo> is supplied, the Jacobian inverse matrix J ⁻¹ is added to the target velocity vector <Vo> based on the coordinate system of the operating device 7.
Is multiplied by and converted into a target angular velocity θn for each axis. Then, the converted target angular velocity θn is used as the command current value calculation unit 1
The target flow rate Q that is supplied to the flow rate calculation unit 23 of 5 and determines the moving speed of the hydraulic cylinder or the like installed in the manipulator.
Is converted to. The converted target flow rate Q is supplied to the current value output section 24, converted into the target current value in sent to the proportional solenoid valve, and the corresponding current is output to the hydraulic controller 16.

FIG. 2 is a schematic configuration diagram showing an example of the hydraulic circuit of the hydraulic controller 16, and is a diagram showing an example of operating one of the plurality of hydraulic actuators.
In FIG. 2, a hydraulic pump 50 is a pump for supplying oil to a hydraulic cylinder 55 that is a hydraulic actuator that drives each joint. The flow rate of oil supplied to the hydraulic cylinder 55 is controlled by the direction switching valve 54.

The direction switching valve 54 is provided in the pilot section 5
4R and 54L, the valve opening of the direction switching valve 54 is changed by the hydraulic pressure acting on it, and the flow rate supplied to the hydraulic cylinder 55 is determined. Proportional solenoid valves 56 and 57 for changing the valve opening are shown.

The proportional solenoid valves 56 and 57 change the oil pressure from the pilot pump 51 while changing the oil pressure from the pilot portion 5.
Hydraulic pressure is supplied to each of 4R and 54L. The proportional solenoid valves 56 and 57 are connected to the control device 6 via a signal line 58, and a current for changing the hydraulic pressure is supplied from the control device 6.

Reference numeral 53 is a tank for storing the supplied oil and the returned oil. Further, the prime mover 52 is the hydraulic pump 5
0 and the pilot pump 51 are driven. The hydraulic controller 16 shown in FIG. 2 controls the operation of the hydraulic cylinder 55, which is a hydraulic actuator, and the working arm 2 is operated.

In FIG. 1, the monitoring device 17 comprises an image pickup means 17a and a distance calculation means 17b such as an ultrasonic wave generator. Then, the image signal picked up by the monitoring means 17a is supplied to the object feature extraction unit 28. The target object feature extraction unit 28 specifies a target object to which the manipulator approaches from the supplied image signal. Then, the target object feature extraction unit 28 generates an ultrasonic wave or the like for distance measurement from the distance calculation unit 17b for the target object,
A movement signal is supplied to the movement means (not shown) of the distance calculation means 17b.

The distance calculating means 17b measures the distance between the object and the distance calculating means 17b and supplies a signal indicating the distance to the distance calculating section 27. The distance calculation unit 27 includes the object supplied from the distance calculation unit 17b and the distance calculation unit 17b.
From the distance between the object and the manipulator Δrm
Is calculated and the calculated distance is supplied to the comparison unit 25 of the switching command unit 18.

The comparison unit 25 compares the distance supplied from the distance calculation unit 27 with the reference distance stored in the storage unit 26. The storage unit 26 stores a predetermined high-speed mode switching distance, a plurality of medium-speed mode switching distances, and a low-speed mode switching distance Δri (i = 1 to n), which are set in advance.
The comparison unit 25 compares the distance stored in the storage unit 26 with the distance from the distance calculation unit 27.

Then, the comparison section 25 supplies the mode changeover switch 9 with a switching signal for switching between the high speed mode, the medium speed mode and the low speed mode based on the comparison result of the supplied distances. The mode changeover switch 9 selects the speed limit vector and the operation gain stored in each mode in the mode parameter setting section 10 according to the mode changeover signal supplied from the comparison section 25, and sets the selected operation gain to the operation gain. The speed limit vector is supplied to the calculation unit 21, and the selected speed limit vector is supplied to the speed limit value comparison unit 22.

As described above, the mode parameter setting section 10 stores a plurality of operation gains 12 and speed limit vectors 11 in pairs for each speed mode. That is, in the high speed mode, the high speed limit vector is stored in the storage unit 11H and the high speed operation gain is stored in the storage unit 12H. In the medium speed mode,
The medium speed limit vector and the medium speed gain are stored in the medium speed mode storage units P1 to Pn. Further, in the low speed mode, the low speed limit vector is stored in the storage unit 11L and the low speed operation gain is stored in the storage unit 12L.

FIGS. 3, 4 and 5 are diagrams showing the relationship between the target speed V and the operating force F when the modes are switched. FIG. 3 is a low speed mode, FIG. 4 is a high speed mode, and FIG. This is the case in the medium speed mode. Normally, the velocity vector <V> and the operation vector <F> are used, but a scalar value in one direction is used to simplify the description.

When the low speed mode is selected, the maximum speed limit value VLm stored in the speed limit vector storage unit 11L is selected.
ax and the operation gain KL stored in the operation gain storage unit 12L are selected, and the small speed limit (V
Lmax to VLmin), and a gentle speed change with respect to the operating force is realized.

When the high speed mode is selected, the maximum speed limit value VHmax stored in the speed limit vector storage unit 11H and the operation gain KH stored in the operation gain storage unit 12H are selected. 4 has a large speed limit (VHmax to VHmin), and a rapid speed change with respect to the operating force is realized.

Between the low speed mode and the high speed mode, there are several kinds of medium speed modes shown in FIG. A set of the maximum speed limit value from P1 to Pn and an operation gain is prepared for the medium speed mode. For example, for P1, the maximum speed limit values V1max and KH which are slightly lower than VHmax are set.
The operation gain K1 having a smaller gradient is stored as a set in the medium speed mode storage unit of the mode parameter setting unit 10. Similarly, as shown in FIG. 6, a set of a plurality of speed limit values and operation gains from P2 to Pn ((V2max,
K2) to (Vnmax, Kn)) are set in the mode parameter setting unit 10.

Next, the handling operation of the handling manipulator according to one embodiment of the present invention will be described. In this embodiment, a high speed mode, a low speed mode, and two kinds of modes, P1 and P2, are prepared as medium speed modes. In the medium speed mode P1, the speed limit value V1max and the operation gain K1 are set, and in the middle speed mode P2, the speed limit value V2max and the operation gain K2 are set as a pair, and the mode parameter setting unit 1
It is stored in 0.

Further, the mode switching distance Δri for distance monitoring
Then, Δr1, Δr2, and Δr3 are set in the storage unit 26 of the switching command unit 18.

FIG. 7 shows a case where the monitoring device 17 (17a, 17b) is installed as a monitoring camera above the driver's cab.

When the operation object 7 is guided by operating the driver's seat of the handling manipulator or the operation device 7 carried by the operator, the operation object 7 is guided so as not to collide with the obstacle 32. In order to do so, fine operation becomes necessary.

Therefore, the monitoring device 17 constantly monitors the radial distance Δrm between the obstacle 32 and the work object 31 grasped by the work implement 4, and performs the first mode switching shown around the obstacle 32. Compare with the distance Δr1, and if Δrm is larger than Δr1, keep the high-speed mode parameter,
The change command unit 18 gives a command to the mode change switch 9.

Next, when the range of Δrm <Δr1 is reached, the change command section 18 commands the mode change switch 9 to select the parameter P1 of the intermediate mode. Similarly, the switching instruction unit 18 causes the mode selector switch 9 to select the parameter P2 of the intermediate mode when Δrm <Δr2, and selects the low speed mode when Δrm <Δr3. Issue a command.

As a result, the operator can guide the work target without feeling a sudden change in speed and a change in operation feeling. When the work object moves away from the obstacle,
As described above, the manipulator is moved without changing the mode.

Even when the work object is moving away from the obstacle 32, the low speed mode is changed to the intermediate mode P2,
It is also possible to issue a command to the mode changeover switch 9 while monitoring the distance from 2 to P1 and from P1 to the high speed mode in this order.

Next, FIG. 8 shows an example in which a sensor for measuring the distance along a straight line, such as an optical distance sensor, is installed as the monitoring device 17 on the work implement 4 of the manipulator main body 1 for construction work. In this case, since it is not necessary to specify the object by the image pickup means 17a, the monitoring device 17 may be only the distance calculation means (distance sensor) 17b, and the image pickup means 17a can be omitted.

In FIG. 8, the distance between the work object and the obstacle 32 is a straight line, and the distance between the work object and the obstacle 32 is Δxm.
And the monitoring distances are Δx1, Δx2, and Δx3.
However, the medium speed mode parameter is P1 as in the above example.
And P2.

The output Δxm of the distance sensor 17b is Δx1
If it is larger, the switching instruction unit 18 sends a switching signal to the mode switching switch 9 to select the high speed mode. Next, when Δxm is smaller than Δx1, the medium speed mode P1 is selected. When Δxm is smaller than Δx2, the medium speed mode P2 is selected, and when smaller than Δx3, the low speed mode is selected.

As in the case described above, when the work object separates from the obstacle 32, the manipulator may be moved without switching the modes, or the modes may be switched in the reverse order to move the manipulator. It can also be configured to.

According to the above-described embodiment of the present invention, in the guidance work of these work objects 31, the speed limit vector and the operation gain are automatically set at the same time, and the abrupt change in the induction speed and the operation feeling are generated. Since it does not change, the guidance work can be performed easily without any discomfort.

In the above-mentioned example, all the modes set in the mode parameter setting unit 10 are used to approach the object, but only the two modes whose speed limit values are close to each other are used. You can also choose to approach things.

For example, as shown in FIGS. 9 and 10, depending on the work situation or the operator, there are two modes, a high speed mode and a medium speed mode P1, or a medium speed mode P2 and a low speed mode. It is also possible for the comparator 25 to operate as if working in one of the two modes. As described above, it is possible to perform the work in two or three or more modes arbitrarily selected from the plurality of modes set in the mode parameter setting unit 10 according to the work situation and the like.

In the above-described example, the signals transmitted and received by each unit may be current values or voltage values, or digital signals of 0 or 1. Further, in the above-mentioned example, only two kinds of modes are used in the intermediate mode, but three or more kinds of modes may be used.

Further, in the above-mentioned example, the handling manipulator for construction work is targeted, but the present invention is also applicable to a case where another work tool is attached to the tip of the wrist mechanism 3 to perform other work. You can For example, the present invention can be applied to a work in which a drill is attached to the tip of the wrist mechanism 3 to make a hole in the ground or a wall.

Further, in the above-mentioned example, the operating device is 6
Although the operation lever composed of the force sensor capable of detecting the axial force is used, it can be realized by other operation means such as a joystick.

[0062]

Since the present invention is constructed as described above, it has the following effects. According to the present invention, in addition to a high speed mode and a low speed mode having a pair of operation gains that control the movement limit speed and work feeling of the manipulator, a middle speed mode is provided between the high speed mode and the low speed mode. The high-speed mode, the medium-speed mode, and the low-speed mode are switched according to the distance between the object and the object.

Therefore, it is possible to suppress abrupt changes in the moving speed and abrupt changes in the operation feeling, simplify the complicated work of switching between the induction speed gain and the speed limit value, and improve the work efficiency. A manipulator operation input device can be realized.

[Brief description of drawings]

FIG. 1 is a control block diagram of a manual manipulator operation control device for construction work according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an example of a hydraulic circuit of a hydraulic controller in the example of FIG.

FIG. 3 is a diagram showing a relationship between a target speed V and an operating force F when switching to a low speed mode.

FIG. 4 is a diagram showing a relationship between a target speed V and an operating force F when switching to a high speed mode.

FIG. 5 is a diagram showing a relationship between a target speed V and an operating force F when switching to a medium speed mode.

FIG. 6 is a diagram showing a setting example of a medium speed mode.

FIG. 7 is an explanatory diagram when the manual manipulator for construction work is actually used for handling work.

FIG. 8 is an explanatory diagram when the manual manipulator for construction work is actually used for handling work.

FIG. 9 is an explanatory diagram of an application example of the present invention.

FIG. 10 is an explanatory diagram of an application example of the present invention.

[Explanation of symbols]

1 Manual Manipulator Main Body for Construction Work 2 Work Arm 3 Wrist Mechanism 4 Work Tool 4a Gripping Device 5 Angle Meter 6 Control Device 7 Operating Device 8 Input Calculator 9 Mode Change Switch 10 Mode Parameter Setting Unit 11 Limit Speed Memory 12 Operating Gain Memory Part 13 Input conversion part 14 Speed calculation part 15 Command current calculation part 16 Hydraulic controller 17 Monitoring device 18 Switching command part 21 Operation gain calculation part 22 Speed limit value comparison part 23 Flow rate calculation part 24 Current value output part 25 Comparison part 26 Storage Unit 27 distance calculation unit 28 object feature extraction unit 29 changeover switch 30 direction determination units P1 to Pn medium speed mode storage unit

Continuation of front page (56) Reference JP-A-4-354685 (JP, A) JP-A-8-90461 (JP, A) JP-A-6-320445 (JP, A) JP-A-61-274887 (JP , A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 13/00 B25J 3/04 B25J 9/12 G05B 19/42

Claims (4)

(57) [Claims] 1. In a manual manipulator operation input device having two or more degrees of freedom, an operation means for instructing an operation of the manipulator by an operator's operation, and a distance for calculating a distance between an object and the manipulator. A low-speed operation gain for determining the operation feeling of the operation means and a low-speed movement upper limit value of the movement speed of the manipulator, a medium-speed operation gain larger than the low-speed operation gain, and the low-speed movement. A medium speed mode storage unit for storing a medium speed movement upper limit value larger than the upper limit value, and a high speed mode storage unit for storing a high speed operation gain larger than the medium speed operation gain and a high speed movement upper limit value larger than the medium speed movement upper limit value. And the distance calculated by the distance calculating means is within the first distance range, When the low speed operation gain and the low speed movement upper limit value stored in the high speed mode storage unit are selected and the distance calculated by the distance calculating means is within a range larger than the first distance and smaller than the second distance. In the case where the medium speed operation gain and the medium speed movement upper limit value stored in the medium speed mode storage section are selected, and the distance calculated by the distance calculating means is larger than the second distance, Mode selection means for selecting the high-speed operation gain and high-speed movement upper limit value stored in the high-speed mode storage unit and outputting from the mode setting unit, and at least when the manipulator moves in the direction of approaching the object. An operation control means for controlling the operation of the manipulator in accordance with an operation gain and a movement upper limit value of the mode selected by the mode selection means, and an operation command from the operation means, Operation input device of manual manipulator, characterized in that it comprises. 2. The operation input device for a manual manipulator according to claim 1, wherein the operation control means operates the mode selected by the mode selection means when the manipulator moves in a direction away from an object. An operation input device for a manual manipulator, which controls the operation of the manipulator in accordance with an operation command from the operation means regardless of the gain and the upper limit of movement. 3. The operation input device for a manual manipulator according to claim 1, wherein the operation control means operates the mode selected by the mode selection means even when the manipulator moves in a direction away from an object. An operation input device for a manual manipulator, characterized in that the operation of the manipulator is controlled in accordance with a gain and a movement upper limit value and an operation command from the operation means. 4. The operation input device for a manual manipulator according to claim 1, wherein the medium-speed mode storage unit comprises:
A first medium speed mode having a first medium speed operation gain and a first medium speed movement upper limit, a second medium speed operation gain larger than the first medium speed operation gain, and the first medium speed A second medium-speed mode having a second medium-speed movement upper limit value larger than the movement upper limit value, and a range larger than the first distance and smaller than the second distance is the first An operation input device for a manual manipulator, characterized by being divided into a range corresponding to the middle speed mode and a range corresponding to the second middle speed mode.