JPH02127385A - Operation commanding device - Google Patents

Abstract

PURPOSE:To perform the operation considering the delicate force adjustment at the tip section of a working body by switching and setting the operation reaction force applied to an operation section to the reaction force with the level corresponding to the force applied to the working body. CONSTITUTION:An operation section 10 is rotatably arranged around translation three axes in the arrow A, B, and C directions via the first through third translation mechanisms 12-14 in a support body structure 11 and around three axes in the arrow D, E and F directions via the first through third rotary mechanisms 15-17. The operation section 10 detects the force/torque resulting from the operation of an operator 19 with a force/torque sensor 18 provided on its base section, determines the force/torque corresponding to each axis, outputs the speed command signal corresponding to the operation quantity to a control section, and remotely operates a manipulator 20, thus the manipulator 20 can perform the operation considering the delicate force adjustment at the tip section.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to an operation command device used for remotely controlling a work body such as a crane or a manipulator that performs various operations, for example.

(Prior Art) Conventionally, as shown in FIG. 4, this type of operation command device has an operating section 1 called a joystick that is freely operable via a bearing 2, and the operating section 1 is operated by an operator. When the operator 3 operates, an operation reaction force corresponding to the amount of operation is generated by an elastic member 4 such as a spring, and is applied to the operator 3. At the same time, the operation unit 1 detects that the amount of operation displacement is detected by the displacement detector 5.
A command signal corresponding to the detected value of the displacement detector 5 is output to a manipulator (not shown) to operate it.

However, with the above operation command device, it is not possible to sense the force/torque at the tip of the manipulator (not shown), making it difficult to finely adjust the force at the tip, resulting in excessive force. There is a risk of damage to the object being handled, and a high level of skill is required to handle it.

(Problems to be Solved by the Invention) As described above, with the conventional operation command device, it is difficult to adjust the delicate force at the tip of the manipulator, and there is a risk of damaging the object being handled. , and skill was required for its handling and operation.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation command device that can adjust the force at the tip of a working body and realize a simple handling operation. shall be.

[Structure of the Invention] (Means for Solving the Problems) The present invention includes a freely operable operating section that remotely outputs a motion command to a working body, and an operating reaction corresponding to the operating position of the operating section. a reaction force generation means for applying force, a force detection means for detecting the force applied to the work body, and a level of the operation reaction force of the operation section corresponding to the detected value detected by the force detection means. and setting means for switching and setting the operation reaction force level of the reaction force generating means.

(Function) According to the above configuration, the operation reaction force applied to the operation section is switched to a reaction force level corresponding to the force applied to the work body. Therefore, by applying a reaction force to the operating portion corresponding to the operating position and the force at the tip of the working body, it is possible to perform an operation that takes into consideration the subtle force adjustment at the tip of the working body.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an operation command device according to an embodiment of the present invention, in which an operation section 10 is inserted into a support structure 11 via first to third translation mechanisms 12 to 14 in the direction of arrow A.

Three translational axes in B and C directions and first to third rotation mechanisms 15 to
17, and is rotatably arranged around three axes in the arrow, E, and F directions. This operating unit 10 detects the force/torque associated with the operation by the operator 19 with a force/torque sensor 18 provided at its base, calculates the force/torque corresponding to each axis, and calculates the force/torque corresponding to the amount of operation. A speed command signal is output to a control section (not shown) to remotely control the manipulator 20.

That is, as shown in FIG. 2, the operation section 10 is provided with a displacement sensor 21 corresponding to the operation shaft 10a. This displacement sensor 21 is connected to the first to third translation mechanisms 1
2 to 14, and the middle points of the first to third rotation mechanisms 15 to 17 are provided as reference positions (for convenience of illustration, only the first translation mechanism 12 is shown in FIG. 2). (Illustrated)
As shown in FIG.
It is connected to one input terminal of the arithmetic unit 23 of.

The other input end of the calculation unit 23 is connected to the output end of a force sensor 24 provided at the tip of the manipulator 20, and the output end is connected to one input end of a subtracter 25. The output end of the force/torque sensor 18 is connected to the other input end of the subtracter 25, and the difference between the subtracter 25 and the target reaction force FR is determined and outputted to the motor drive control section 26.

This motor drive control unit 26 generates a drive signal corresponding to the input reaction force setting value, and in response to this drive signal, the first to third translation mechanisms 12 to 14 and the first to third rotation mechanisms are activated. The operation unit controls the drive motors 15 to 17 (in FIG. 2, for convenience of illustration, the drive motors corresponding to the other five axes other than the first translation mechanism 12 are not shown). An operation reaction force is applied to 10.

In the above configuration, when the operation unit 10 is operated, force/torque is detected by the force/torque sensor 8, force/torque in six axes in the direction of arrows A-F is determined from this force/torque, and a speed command corresponding to the amount of operation is determined. The signal is the manipulator 20
output to and remotely controlled. At the same time, the displacement of the operation shaft 10a of the operation section 10 is detected by the displacement sensor 21, and the detected value X (displacement from the reference position) of the displacement sensor 21 is output to the calculation section 23. This calculation unit 23 has a detection value f (axial force) of a tip force sensor 24 at the tip of the manipulator.
is input, the target reaction force FR is obtained from the formula FR-K (f) reference x, and is output to the subtracter 25. Note that K (f
) is a coefficient approximately proportional to the detected value f of the tip force sensor 24, where C is a proportionality constant and co is a reference reaction force constant, K (f) - C - f + C.

It is a function expressed by the formula.

The subtracter 25 is a force/torque sensor 18 that detects the force/torque sensor 18.
A reaction force setting signal is obtained by subtracting the torque and target reaction force FR, and is output to the motor drive control section 26. This motor drive control section 26 generates a drive signal from the reaction force setting signal,
Each drive motor 12a of the first to third translation mechanisms 12 to 14 and the first to third rotation mechanisms 15 to 17 (see FIG. A drive motor corresponding to five axes (not shown) is drive-controlled to apply an operation reaction force to the operation unit 10.

In this manner, the operation command device allows the level of the operation reaction force applied to the operation section 10 to be switched and set in accordance with the force applied to the manipulator 20, and the operation position of the operation section 10 and the force at the tip of the manipulator can be changed. Compatible with 1. By configuring the system to apply an operation reaction force, it is possible to perform operations that take into account the delicate force at the tip of the manipulator, which reliably prevents damage to the workpiece and allows for easy handling. realizable.

In the above embodiment, the displacement sensor 21 is provided to detect the amount of displacement, but the present invention is not limited to this.
It is also possible to integrate and detect the rotation angles of each drive motor corresponding to the shaft.

Further, in the above embodiment, the force/torque of the operating unit 10 is detected using the cuff/torque sensor 18, but the invention is not limited to this, and for example, the amount of torque generated by each drive motor corresponding to six axes may be integrated. It is also possible to configure it as desired.

Further, in the above embodiment, a case has been described in which the present invention is applied to a manipulator 20 that controls three translational axes and three rotational axes as a work body, but the present invention is not limited to this control method and can be applied. Further, the applicable work body is not limited to a manipulator, but can also be applied to, for example, a crane operation command.

Therefore, it goes without saying that the present invention is not limited to the above embodiments, and that various modifications can be made without departing from the spirit of the invention.

[Effects of the Invention] As described in detail above, the present invention provides an operation command device that can adjust the force at the tip of the work body and realize a simple handling operation. can do.

[Brief explanation of drawings]

FIG. 1 is a diagram showing a manipulator system to which an operation command device according to an embodiment of the present invention is applied, FIG. 2 is a diagram showing details of the operating section in FIG. 1, and FIG. 3 is a diagram showing the control system in FIG. 1. FIG. 4 is a circuit diagram showing a conventional operation command device. 10... Operation unit, 11... Support structure, 12-14.
... first to third field translation mechanisms, 15 to 17... first to third rotation mechanisms, 18... force/torque sensors, 19...
- Operator, 20... Manipulator, 21... Displacement sensor, 22... Target reaction force setting section, 23... Arithmetic section, 24... Tip force sensor, 25... Subtractor, 26・
...Motor drive control section, 12a... Drive motor. Applicant's agent Patent attorney Takehiko Suzue

Claims (1)

[Claims] a freely operable operating section that remotely outputs a motion command to the working body; a reaction force generating means that applies an operating reaction force to the operating section corresponding to the operating position; and a reaction force generating means that is applied to the working body. a force detection means for detecting a force; and a setting means for determining a level of an operation reaction force of the operation section corresponding to a detection value detected by the force detection means and switching and setting an operation reaction force level of the reaction force generation means. An operation command device comprising: