JPH02292193A - 操作指令装置 - Google Patents
操作指令装置Info
- Publication number
- JPH02292193A JPH02292193A JP10756289A JP10756289A JPH02292193A JP H02292193 A JPH02292193 A JP H02292193A JP 10756289 A JP10756289 A JP 10756289A JP 10756289 A JP10756289 A JP 10756289A JP H02292193 A JPH02292193 A JP H02292193A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 description 18
- 238000004364 calculation method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012888 cubic function Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Abstract
め要約のデータは記録されません。
Description
ビュレー夕等の作業体を遠隔操作するのに用いる操作指
令装置に関する。
うに、ジョイスティックと称する操作部1が軸受2を介
して操作自在に配設され、この操作部1を操作者3が操
作すると、その操作量に対応した操作反力がスプリング
等の弾性部材4により発生され、操作者3に付与される
。同時に、操作部1は、その操作変位量が変位検出器5
により検出され、この変位検出器5の検出値に対応した
指令信号を図示しないマニピュレー夕に出力して動作さ
せる。
示せず)の先端部の力/トルクを感得することができな
いことにより、その先端部における力の微妙な調整が困
難なために、過大な力が発生して取扱い対象を破損した
りするおそれがあり、その取扱い操作に高度な熟練が要
求されていた。
レー夕先端部の微妙な力加減を調整することが困難なた
めに、取扱い対象を破損したりするおそれがあり、その
取扱い操作に熟練が要求されていた。
先端部の力加減の調整を行ない得るようにして、簡便な
取扱い操作を実現し得るようにした操作指令装置を提洪
することを目的とする。
て該作業体を駆動制御する操作自在な操作部と、この操
作部に対して操作位置に応じた仮想的なばね係数を有す
る操作反力を付与する反力発生手段と、前記作業体に付
与される力を検出する力検出手段と、この力検出手段で
検出した検出値及び前記操作部の2!準位置からの正及
び負方向の変位二に応じて正及び負方向の仮想的なばね
係数を設定して前記反力発生手段の操作反力のレベルを
切換設定する設定手段とを備えて操作指令装置を構成し
たものである。
作業体に付与される正及び負方向の力に対応した正及び
負方向の操作反力が、操作部の操作位置に応じたレベル
で付与される。従って、操作者は、作業体先端部に付与
される正及び負方向の力を感得しながらの操作が可能と
なることにより、作業体先端部の微妙な力加減を考慮し
た操作を行なうことができる。
に説明する。
もので、操作部10は支持構体11内に第1〜第3の並
進機構12〜14を介して矢印A,B,C方向の並進3
軸(並進3自由度)及び第1〜第3の回転機構15〜1
7を介して矢印D,E,F方向の回転3軸(回転3自由
度)回りに回転自在に配設される。この操作部10は、
操作者18により操作されると、基部に設けた力/トル
クセンサ19が、その操作にともなう力/トルクを検出
し、その力/トルクに対応した速度で駆動制御される。
レータ速度指令vRを図示しないマニビュレータ駆動制
御部に出力してマニピュレータ20を遠隔操作せしめる
。
の操作軸10aに対応して変位センサ21が配設される
。この変位センサ21の出力端は第3図に示すように、
目標反力設定部22の演算部23の一方の入力端に接続
される。この演算部23の他方の入力端にはマニビュレ
ータ20の先端部に設けた先端カセンサ24の出力端が
座標変換部25を介して接続される。座標変換部25は
先端カセンサの検出信号をマニピュレータ20の基部の
座標系に変換して該座標系に平行な方向の力を算出し、
演算部23に出力する。演算部23は、入力したマニピ
ュレータ20の先端力及び操作部10の操作力に応じて
後述するように操作反力F8を求めて、その出力端より
減算器26に出力する。減算器26の他方の入力端には
上記力/トルクセンサ19の出力端が座標変換部27を
介して接続される。座標変換部27は上記力/トルクセ
ンサ19の検出信号を操作部10の第1図におけるAB
Cに平行名座標軸を有する基部の座標系に変換して該座
標系に平行な方向の力/トルクF.を算出し、上記減算
器26に出力する。
部28に出力する。このモータ駆動制御部28は入力し
た反力設定値ΔFに対応した目標トルクを後述するよう
に求めて各自由度に対応する駆動モータ12a(第2図
参照、但し、図中では、第1〜第3の並進機構12〜1
4及び第1〜第3の回転機構15〜17のうち、第1の
並進機構12以外の他の5軸に対応する駆動モータにつ
いては図示せず)を制御し、上記60由度に対応される
m1〜第3の並進機構12〜14及び第1〜第3の回転
機構15〜17を構成する駆動機構部29を駆動して操
作部10を制御する。この際、操作部10の操作変位X
.は、図示しないセンサで検出され、その検出信号が減
算器30の一方に入力される。減算器30の他方の入力
端には基準位置座標部31からの基準位置X。が入力さ
れており、これらを引き算して変位JIXを求める。そ
して、減算器30の出力端には乗算部32が接続される
。乗算部は、入力した変位量Xに比例係数Gを掛けてマ
ニピュレータ指令速度vRを求め、図示しないマ′ニピ
ュレータ駆動部に出力してマニビュレータ20を駆動制
御する。また、減算器30の出力端には上記変位センサ
21が接続される。この変位センサ21は減算器30で
検出した変位量Xを検出して上記演算部23に出力する
。
に構成され、1自由度分のモータ速度el (i−1
.2,3,4,5.6)が6自由度分求められる。即ち
、入力した1自由度分の反力設定値ΔFl (i−1
.2,3,4,5.6)はPID制御回路に導かれて目
標トルクτl (i一i,2,3.4.5.6)が算出
され、この目標トルクτ1に対応して駆動モータ12a
(第2図参照)が駆動される。ここで、駆動モータ12
aは、そのモータ速度elで対応する第1の並進磯構1
2を駆動制御する。
れると、力/トルクセンサ19が力/トルクを検出して
座標変換部27に出力される。座標変換部27は入力し
た検出値を前述したように座標変換して力/トルクF.
を求め、この力/トルクF.をモータ駆動制陣部28に
出力する。ここで、モータ駆動制御部28は前述したよ
うに、矢印A−F方向の6自由度における目標トルクを
求めて、この目標トルクに対応したモータ速度e,を求
め、駆動モータ12a(第2図参照、但し、図中では、
第1〜第3の並進機構12〜14及び第1〜第3の回転
機構15〜17のうち、第1の並進機構12以外の他の
5軸に対応する駆動モータについては図示せず)を駆動
して操作部10を駆動制御する。すると、操作部1oは
、その操作量に対応したマニビュレータ速度指令VRを
求めてマニビュレータ20を遠隅操作する。同時に、操
作部10の操作軸10aの変位が変位センサ21で検出
され、この変位センサ21の検出値(基準位置からの変
位ffiX)は演算部23に出力される。この演算部2
3にはマニビュレー夕先端部の先端カセンサ24の検出
値【が入力されており、以下に述べるような手順で1自
由度毎に6自由度分の目標反力Far (i−1.2+
3,4r5,6)を算出する。
して基準位置(原点O)Xoより負方向(引張力向)あ
るいは正方向(圧接方向)の力が?与されると、その力
に応じてレベルが切り替え設定されて異なるレベルで設
定される。例えば、先端カセンサ24で検出した検出値
f−0の状態では、第5図中実線で示す如く基準位置X
oに対して略対称のレベル特性に設定され、f>Oの状
態では、第5図中破線で示すように正方向に剛となるよ
うに設定され、f<0の状態では、第5図中一点鎖線で
示すように負方向に剛となるように設定される。そして
、基準位置Xoに対する変位fmXは、例えば正方向の
所定の位置aと負方向の所定の位置−aと中間−a<X
<a領域において、目標反力F■−0の不感領域が設け
られ、操作時にお−ける操作反力のいわゆる発振現象の
防止が図られる。即ち、変位′frkX≧aの時には、
F Rl− K @ ’ X a / K aの演
算が行われて目標反力FRが算出される。そして、X≦
一aの時には、 F R − K b ” X 十a / K bの演
算が行われて目標反力F.Iが算出される。ここで、K
a r Kmは、仮想的なばね係数で、先端カセンサ2
4の検出値fに応じて切り替え設定され、f≧0の時、 x<.−C−lfl+co K.−CO の式で求められ、f≦0の時、 K.−C。
れる。なお、C,Coは、正の定数である。
/トルクF.と、上述したように1自由度づつ求めた6
自由度分の目標反力FRとを引算して反力設定値ΔFを
求め、モータ駆動制御部26に出力する。このモータ駆
動制御部26は、反力設定値ΔFに対応した目標トルク
で駆動モータ12a(第2図参照、但し図の都合上、第
1の並進機構12以外の他の5軸に対応する駆動モータ
については図示せず)を駆動制御し、ここに駆動機構部
を形成する第1〜第3の並進機構12〜14及び第1〜
第3の回転機構15〜17がモー夕速度θで駆動制御さ
れて操作部10が動作制御される。この際、操作部10
には、前述したように、その変位量Xと、マニビュレー
タ20に対して基準位置(原点)Xoより負方向(引張
力向)あるいは正方向(圧接方向)に付与される力に応
じて演算部23で算出した負及び正方向の操作反力FI
1が付与される。
うにセンサ(図示せず)で検出され、その操作変位X.
が減算器26に入力される。減算器26は、入力した操
作変位量X.と基準位置座を求められる。この変位ff
iXは乗算部32で比例係数Gが乗算されてマニビュレ
ータ指令速度VRが生成され、このマニピュレータ指令
速度v3が図示しないマニビュレータ駆動部に出力され
てかマニビュレータ20が駆動制御される。
連動して、マニビュレータ20に付与される力及び操作
部10の基準位置X。からの正及び負方向の変位ffi
Xに応じて正及び負方向の仮想的なばね係数を設定して
操作部10の正及び負方向の操作反力FRを切換設定す
るように構成したことにより、操作者18がマニピュレ
ー夕先端部に付与される正及び負方向の力を感得しなが
らの操作が可能となるため、マニビュレータ20の先端
部の微妙な力加減を考慮した操作を行なうことができる
。これによれば、マニビュレータ20による作業対象の
破損を確実に防止することが可能となるため、簡便な取
扱い操作が実現されると共に、安全性の向上が実現され
る。
の所定の位置までを不感領域に設定したが、この不感領
域を設けないで構成することも可能である。この場合に
は、発振現象の防止が可能な程度の精度が要求される。
性に設定した場合で説明したが、これに限ることなく、
使用目的に応じて第6図に示すように、所定の領域以後
の仮想的なばね係数を高めるよう14M:歳することも
可能で、その他、2次関数、3次関数等の各種の特性が
考えられる。
量を検出するように構成したが、これに限ることなく、
6自由度に対応する各駆動モータの回転角を積算して検
出することも可能である。
トルクセンサ19を用いて検出したが、これに限ること
なく、例えば6自由度に対応する各駆動モータの発生ト
ルク量を積算して求めるように構成することも可能であ
る。
回転3自由度を制御するマニピュレータ20に適用した
場合で説明したが、この制御方式に限ることなく、適用
可能である。また、適用する作業体としても、マニピュ
レータに限ることなく、例えばクレーンの操作指令用と
しも適用可能である。
、この発明の要旨を逸脱しない範囲で種々の変形4実施
し得ることは勿論のことである。
の力加減の,J!JUを行ない得るようにして、簡便な
取扱い操作を実現し得るようにした操作指令装置を提洪
することができる。
したマニピュレータシステムを示す図、第2図は第1図
の操作部の詳細を示す図、第3図は第1図の制御系を示
す回路構成図、第4図は第1〆 性図、第4図は従来の操作指令装置を示す図である。 10・・・操作部、11・・・支持構体、12〜14・
・・第1〜第3野並進機構、15〜17・・・第1〜第
3の回転機構、18・・・操作者、19・・・力/トル
クセンサ、20・・・マニピュレー夕、21・・・変位
センサ、22・・・目標反力設定部、23・・・演算部
、24・・・先端カセンサ、25.27・・・座標変換
部、26.30・・・減算器、28・・・モータ駆動制
御部、29・・・駆動機構部、31・・・基準位置座標
部、32・・・乗算部、12a・・・駆動モータ。
Claims (2)
- (1)作業体に対して遠隔的に速度指令を出力して該作
業体を駆動制御する操作自在な操作部と、 この操作部に対して操作位置に応じた仮想的なばね係数
を有する操作反力を付与する反力発生手段と、 前記作業体に付与される力を検出する力検出手段と、 この力検出手段で検出した検出値及び前記操作部の基準
位置からの正及び負方向の変位量に応じて正及び負方向
の仮想的なばね係数を設定して前記反力発生手段の操作
反力のレベルを切換設定する設定手段とを具備したこと
を特徴とする操作指令装置。 - (2)前記反力発生手段は前記基準位置より正及び負方
向の所定の位置までの領域で前記操作反力を零に設定し
てなることを特徴とする請求項1記載の操作指令装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP01107562A JP3088004B2 (ja) | 1989-04-28 | 1989-04-28 | 操作指令装置 |
US07/395,721 US4950116A (en) | 1988-08-18 | 1989-08-18 | Manipulator controlling apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP01107562A JP3088004B2 (ja) | 1989-04-28 | 1989-04-28 | 操作指令装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH02292193A true JPH02292193A (ja) | 1990-12-03 |
JP3088004B2 JP3088004B2 (ja) | 2000-09-18 |
Family
ID=14462319
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP01107562A Expired - Lifetime JP3088004B2 (ja) | 1988-08-18 | 1989-04-28 | 操作指令装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3088004B2 (ja) |
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