JPH02269586A - Manipulator drive control device - Google Patents

Abstract

PURPOSE:To realize the most suitable drive control according to actual engaging environmental conditions by selecting a manipulator engaging environment model correspondingly to the actual joint angle and joint torque of a manipulator, and finding compensatory signals corresponding to the engaging environment model, and drivingly controlling the manipulator driving mechanism portion. CONSTITUTION:End position/attitude and end force/torque computing portions 12,13 compute the position/attitude and force/torque of the end portion of a manipulator according to joint angle inputted and joint torque, and output them to respective first and second compensatory signal generating portions 14,15. Simultaneously, the joint angle and joint torque are inputted to a data selecting portion 16, and the most suitable manipulator engaging environment model corresponding to the joint angle and joint torque inputted is selected and output to the first and second compensatory signal generating portions 14,15. In accordance with the model selected generating portions 14,15 find compensatory signals from the position/attitude of the end portion and from the aimed position/attitude and aimed force/torque and outputs them to respective computing portions 17,18.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a manipulator drive control device used to drive and control a manipulator constructed, for example, in outer space.

(Prior Art) In general, in a manipulator drive control device, when performing work such as grinding using a grinder, restraints are used to prevent interference between the hands performing the actual work, the material part, the shoulder part, etc. In response to environmental conditions, a so-called position/force hybrid control method is adopted in which drive control is performed by giving a target value for the hand position and a target value for the force as a time function.

In such a hybrid control system, as shown in Figure 2, in order to set the target trajectory of the position and force,
Since it is necessary to formulate the constraint environment conditions 2 between the hand of the manipulator 1 and the work target, the constraint environment conditions are defined as the position of the hand to be controlled (including velocity and acceleration).
It is given by a relational expression between and the force (including torque) received from the work object and a time function. That is, from the relational expression between the target position and force, the trajectory of the target position and force when there are constraint environmental conditions is obtained.

However, since the manipulator drive control device described above is configured to control the position, orientation, force, and torque of the manipulator 1 by giving a target trajectory as a time function, it is difficult to perform highly accurate drive control when unexpected constraint environmental conditions occur. becomes difficult,
There was a risk of interference between the hands, shoulders, shoulders, etc.

In addition, according to this, when using under restraint environment conditions different from the set restraint environment conditions, it is necessary to reset the target trajectory to the l'' mark trajectory corresponding to the restraint environment conditions each time, making it difficult to handle it. The problem was that it was troublesome.

(Problem to be solved by the invention) As mentioned above, with the conventional manipulator drive control device, handling is extremely difficult because it is difficult to perform highly accurate and safe drive control due to unexpected restraint environment conditions. This has the problem of being troublesome.

This invention has been made in view of the above circumstances, and an object of the present invention is to provide a manipulator drive control device that reliably realizes optimal drive control according to restraint environment conditions and improves ease of handling. purpose.

[Structure of the Invention] (Means for Solving the Problems) The present invention includes a detection means for detecting joint angles and joint torques of a manipulator, and a plurality of manipulator constraint environment models stored therein, and a detection means for detecting joint angles and joint torques of a manipulator. data selection means for selecting the manipulator constraint environment model corresponding to the joint angle and joint torque; and a first step for determining force/torque and position/attitude of a predetermined part of the manipulator from the joint angle and joint torque detected by the detection means.
The manipulator target position/attitude and target force/torque are inputted to the calculation means, and the manipulator target position/attitude is input.
Compensation signal generation means for calculating a compensation signal based on the manipulator constraint environment model selected by the data selection means from the posture, target force/torque, and the force/torque and position/attitude obtained by the second calculation means; A second calculation means for calculating the target angle and target torque from the compensation signal obtained by the compensation signal generation means, and a drive signal is calculated by calculating the reverse dynamic characteristics of the joint angle and joint torque obtained by the second calculation means. A manipulator drive control device is constituted by a third calculation means for calculating the third calculation means, and a manipulator drive mechanism section for controlling the drive of the manipulator according to the drive signal calculated by the third calculation means.

(Operation) The manipulator drive control device selects a manipulator constraint environment model corresponding to the current joint angles and joint torques of the manipulator, obtains a compensation signal corresponding to this constraint environment model, and drives the manipulator drive mechanism. By configuring the control, optimal drive control according to the current constraint environment conditions can be realized. Therefore, there is no need to reset the target trajectory to the target trajectory corresponding to the constraint environment conditions every time the constraint environment conditions change, as in the past.
By realizing optimal drive control that corresponds to the constraint environment conditions, the handling property can be improved.

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

FIG. 1 shows a manipulator drive control device according to an embodiment of the present invention, in which a manipulator drive mechanism section 10
is provided with a detection sensor 11 for detecting joint angle and joint torque. The detection sensor 11 has a joint angle output end connected to a tip position/posture calculation section 12, and a joint torque output end connected to a tip force/torque calculation section 13.

These tip position/posture and tip force/torque calculation units 12 and 13 calculate the position and position in the absolute coordinate system of the tip of the manipulator 1 (see Fig. 2), which is to be controlled, for example, based on the input joint angle and joint torque. The posture and force/torque are determined and output to the first and second compensation signal generation sections 14.15.

A data selection unit 16 is also connected to the joint angle and joint torque output terminals of the detection sensor 11. The pig selection unit 16 stores various manipulator restraint environment models corresponding to work conditions in advance, and selects the optimal manipulator restraint environment model corresponding to the current joint angles and joint torques of the manually operated manipulator 1, The optimal constraint environment model is transmitted to the first and second compensation signal generating sections 14゜]5
Output to. These first and second compensation signal generation units 14
, 1.5, the target position, orientation, and target force, I, and torque are inputted from an operation command unit (not shown), and from these values and the current position, orientation, force, and torque of the manipulator 1,
A compensation signal is determined based on the coordinate system of the manipulator constraint environment model selected by the data selection section 16, and is output to the target angle and target torque calculation sections 17 and 18. The target angle and target torque calculation unit 17.18 determines a target angle and target torque from the input compensation signal, and outputs the target angle and target torque to the first and second reverse dynamic characteristic calculation units 19.20. The first and second inverse dynamic characteristic calculation units 19.20 are
Each output terminal thereof is connected to the first and second input terminals of the adder 21, and a drive signal corresponding to the input target angle and target torque is obtained and output to the adder 21. Adder 21
adds the input drive signals and outputs the result to the manipulator drive mechanism section 10.

In the above configuration, when the manipulator drive mechanism section 10 is driven, the detection sensor 11 detects the current joint angle and joint torque of the manipulator. Then, this joint angle and joint torque are input to the tip position/posture and tip force/torque calculation unit 1213. The tip position/attitude and tip force/torque calculation unit 12.13 calculates the position/posture and force/torque of the manipulator tip from the input joint angle and joint torque, and sends the result to the first and second compensation signal generation units 14. Output to .15. At the same time, the joint angle and joint torque are input to the data selection section 16. Data selection section 16
selects the optimal manipulator constraint environment model corresponding to the input joint angles and joint torques and outputs it to the first and second compensation signal generators 14 and 15. Here, the first and second compensation signal generation units 1.4. ] 5, each compensation signal is obtained from the position, orientation, force, and torque of the tip and the target position, orientation, and target force and torque, based on the optimal manipulator restraint environment model selected by the data selection unit 16, and the target angle and target torque calculation section] 718. The target angle and target torque calculating sections 17 and 18 calculate the target angle and target torque from the input compensation signal and output them to the first and second reverse dynamic characteristic operating sections 19 and 20. The first and second inverse dynamic characteristic calculation units 19, 20 obtain respective drive signals corresponding to the target angle and target torque. And the first and second
The respective drive signals obtained by the inverse dynamic characteristic calculation sections 19 and 20 are added by an adder 21 and output to the manipulator drive mechanism section 10, and the manipulator drive mechanism section 10 is drive-controlled. Here, the drive control of the manipulator 1 is performed in an optimal state for the current restraint environment conditions.

In this way, the manipulator drive control device selects the optimal model from among the manipulator constraint environment models stored in the data selection unit 6 in accordance with the current joint angles and joints I and L of the manipulator 1, Based on this restraint environment model, a compensation signal corresponding to the target position, orientation, target force, and torque, and the position, orientation, force, and torque of the manipulator tip is determined, and the manipulator drive mechanism unit 10
By configuring the drive to be controlled, it is possible to realize drive control in an optimal state according to changes in restraint environmental conditions.

According to this, the optimal drive control corresponding to the current constraint environment conditions can be performed without having to reset the target trajectory to the target trajectory corresponding to the constraint environment conditions every time the constraint environment conditions change, as in the past. By realizing this, the ease of handling can be improved as much as possible.

In addition, in the above embodiment, a case has been described in which the tip of the manipulator is controlled as the control target, but the present invention is not limited to this, and other parts such as the middle part of the arm or joints may be configured as the control target. is also possible.

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 detailed above, the present invention provides a manipulator drive control device that reliably realizes optimal drive control according to restraint environment conditions and improves ease of handling. can be provided.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a manipulator luke drive control device according to an embodiment of the present invention, and FIG. 2 is a diagram shown for explaining the outline of the manipulator system. ]...manipulator, 2...constraint environment condition, 10
... Manipulator drive mechanism section, 1]... Detection sensor, 1.2, 1.3... Tip position/attitude and force/torque calculation section, 14.15... First and second compensation signals Generation unit, ]6...Data selection unit, 17.18...Target angle and target torque calculation unit, 19.20...First and second
inverse dynamic characteristic calculating section, 21...adder.

Claims (1)

[Scope of Claims] Detection means for detecting joint angles and joint torques of a manipulator; and a plurality of manipulator constraint environment models stored therein, the manipulator constraint environment corresponding to the joint angles and joint torques of the manipulator detected by the detection means. data selection means for selecting a model; first calculation means for calculating force/torque and position/attitude of a predetermined part of the manipulator from the joint angle and joint torque detected by the detection means; manipulator target position/attitude and target force; - Torque is input, and based on the manipulator constraint environment model selected by the data selection means from the manipulator target position/attitude and target force/torque and the force/torque and position/attitude obtained by the first calculation means. , a compensation signal generation means for calculating a compensation signal, a second calculation means for calculating a target angle and a target torque from the compensation signal calculated by the compensation signal generation means, and a joint angle and a joint torque calculated by the second calculation means. and a manipulator drive mechanism section that controls drive of the manipulator in response to the drive signal calculated by the third calculation means. Manipulator drive control device.