JPH03166085A - Operation command device - Google Patents

Abstract

PURPOSE:To increase operationability by installing a command control means which determines the relative part position and posture between a lower arm holding part and its operation part from the detection value of a rotational angle detection means and the operation position and posture of the operation part and calculating the opera tion command signal of the intermediate joint for an articulated manipulator to control driving of the intermediate joint of the articulated manipulator. CONSTITUTION:A lower arm holding part 21 is installed around two-axis which is coaxial and orthogonal to the prescribed degree of rotational freedom of an operation part 10 so that it can rotate freely. The rotational angle around the two-axis of the lower arm holding part 21 is detected by a detection means 22d. The relative position and posture of both of them 10, 21 are determined by a command control means according to the rotational angle and the operation position and posture of the opera tion part 10 to calculate the operation command of an intermediate joint 20a for a articulated manipulator 20 and control driving of the intermediate joint 20a. It is thus possible to simplify the holding structure of the lower arm holding part 21, decrease constraint feeling by the lower arm holding part 21 at the time of operation and achieve easy operation, providing miniaturizing of the lower arm holding part 21.

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 multi-joint manipulator that performs various operations, for example.

(Prior Art) Conventionally, multi-joint manipulators have six degrees of freedom for the position and posture of the tip, and seven or more degrees of freedom that enable drive control of intermediate joints (for example, elbow joints). A device configured in this manner to realize highly accurate work is being considered. As an operation command device for commanding such a manipulator, for example, an exoskeleton type device developed by the National Aeronautics and Space Administration (NASA) is known. This type of operation command device has a first operation section for six-degree-of-freedom operation that is held and operated by the operator, and an armor-like structure that is attached to the upper and lower arm sections of the operator's operating arm. m2 operation section for 7 degrees of freedom operation, and commands and controls the 6 degrees of freedom of the tip of the manipulator in response to the operation of the first operation section. The intermediate joint of the manipulator is configured to command and control depending on the relative positional relationship with the manipulator.

However, in the above-mentioned operation command device, because the second operation part is formed in an armor shape that corresponds to the operating arm of the operator, the operator feels constrained, and the handling and operability are extremely difficult. This has the problem of not only being bad for the user but also being large and requiring a large installation space.

(Problems to be Solved by the Invention) As described above, conventional operation command devices have the problems of giving the operator a strong sense of restraint, being very difficult to handle, and being large. .

The present invention has been made in view of the above circumstances, and provides an operation command device that has a simple configuration, improves handling and operability, and promotes miniaturization as much as possible. The purpose is to

[Configuration of the Invention (Means for Solving the Problems) This invention remotely adjusts the position and orientation of the tip of a multi-joint manipulator in conjunction with the operation of an operating unit having multiple translational and rotational degrees of freedom. An operation command device that performs command control includes a lower arm holder that is rotatably provided around two axes that are coaxial and orthogonal to a predetermined rotational degree of freedom of the operating unit; A rotation angle detection means for detecting rotation angles around two axes, and a relative position and orientation of the lower arm holding part and the operation part based on the detection values of the rotation angle detection means and the operation position and orientation of the operation part. and a command control means for calculating a motion command signal for an intermediate joint of the multi-joint manipulator based on the above-mentioned information, and driving and controlling the intermediate joint of the multi-joint manipulator.

(Function) According to the above structure, the command control means generates a motion command signal for the intermediate joint of the multi-joint manipulator to rotate the lower arm holder disposed corresponding to the predetermined rotational degrees of freedom around two axes. The relative position and orientation of the lower arm holding part and the operating part are determined from the angle and the position and orientation of the operating part, and by calculating based on this relative position and orientation, the holding structure of the lower arm holding part is adjusted. Accurate calculations are achieved without being affected. Therefore, since the holding structure of the lower arm holding part can be simplified, the feeling of being restrained by the lower arm holding part during operation can be reduced, and easy handling operations can be realized, and the lower arm holding part can be made smaller. This can be promoted.

(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 the operation section 10 is moved in the directions of arrows A, B, and C through first to third translation mechanisms 12 to 14 within a support structure 11. Translation of 3
Axis (3 degrees of freedom in translation) and first to third rotation mechanisms 15 to 1
It is rotatably arranged around three rotational axes (three rotational degrees of freedom) in the directions of arrows D, E, and F via 7. This operation section 10 is
When operated by the operator 18, a force/torque sensor 19 (described later) provided at the base detects the force/torque associated with the operation, and the drive is controlled at a speed corresponding to the force/torque. At this time, the operation section 10 outputs a manibulator speed command VR corresponding to the operation amount to a manibulator drive control section (not shown) to remotely control the six degrees of freedom of the position and orientation of the tip of the manipulator 20.

Further, a ring-shaped lower arm holding section 21, on which the lower arm section 18a of the operator 18 is attached, is detachably attached to the operation section 10. This lower arm holding section 21 controls the position and posture of the intermediate joint 20a (for example, elbow joint) of the manipulator 20, and rotates around an axis coaxial and orthogonal to the second rotation mechanism 16 of the operating section 10. It is provided so that it can be operated freely. That is, as shown in FIG. 2, the second rotating mechanism 16 has a rotating shaft 16a whose base portion is rotatably supported by a drive motor 16b, and whose intermediate portion is connected to the operating section 10 via a link member 16c. be done.

The drive motor 16c is supported by the support structure 11 via a support member 16d. And the second rotation mechanism 16
A housing 22a constituting a fourth rotation mechanism 22 is coaxially and rotatably supported on the rotation shaft 16a via a bearing 22b and an actuator 22c. This housing 22a is provided with a rotation angle detection sensor 22d, and the rotation angle is detected by the rotation angle detection sensor 22d. Further, a fifth rotation mechanism 23 that is substantially perpendicular to the axis of the fourth rotation mechanism 22 is rotatably attached to the housing 22a via a damper mechanism (not shown).

This fifth rotation mechanism 23 has a rotation angle detection sensor 23a (
In FIG. 2, a rotation angle (not shown (see FIG. 3), not shown for reasons of illustration) is attached, and its rotation angle is detected by a rotation angle detection sensor 23a. The base of the lower arm holding portion 21 is attached to the fifth rotation mechanism 23.

Next, a control system for the operating section 10 and the lower arm holding section 21 configured as described above will be explained.

That is, the output end of the force/torque sensor 19 is connected to one input end of the subtracter 24, as shown in FIG. The output end of a manipulator tip force/torque sensor 25 is connected to the other input end of the subtracter 24 via a multiplier 26 . The subtracter 24 has its output end connected to the multiplier 27, and subtracts the input force/torque of the operation unit 10 and the force/torque of the tip of the manibulator 20 to obtain the target position/attitude, and then outputs the result to the multiplier 24. Output to 27. This multiplier 27 has its output end connected to the operating section drive control section 28 , multiplies the input target position and orientation by the operating section driven characteristic gain, and outputs the result to the operating section drive control section 28 . The operating section drive control section 28 has an operating section driving mechanism section 29 connected to its output end, and an output end of the operating section driving mechanism section 29 connected to the other input end via a rotation angle sensor 30. .

The operating unit drive control unit 28 generates a drive signal according to the input target position and orientation and the rotation angle from the rotation angle sensor 30, outputs it to the operating unit drive mechanism 29, and outputs it to the operating unit drive mechanism 29.
9 and controls the position and orientation of the operating section 10.

Output ends of the two operating unit drive mechanism units are connected to the calculation unit 31. The output ends of the rotation angle detection sensors 22d and 23a of the lower arm holding part 21 are connected to this calculation part,
Its output end is connected to one input end of the manibulator drive control section 32. The calculation unit 31 calculates the position and orientation of the manipulator tip according to the input operating unit position and orientation signals, and outputs the operation command signal to the manibulator drive control unit 32. Furthermore, when the detection values from the rotation angle detection sensors 22d and 23a of the lower arm holding part 21 are inputted manually, the operation part 31 changes the operation part 10 into the coordinate system (
X↑． Yt. Zt) and the lower arm holding part 21 are in the coordinate system (Xg
．． Yg. ZE), the relative position and posture of the operating section 10 and the lower arm holding section 21 are determined from the rotation angle of the lower arm holding section 21 and the position/attitude of the operating section 10, and the intermediate joint 20a of the manipulator 20 is The position and orientation of the manipulator are calculated, and an operation command signal is output to the manipulator drive control section 32.

The manipulator drive control section 32 has an output end connected to the manibulator drive mechanism section 33, and the other input end connected to the output end of the manipulator drive mechanism section 33 via a rotation sensor 34. The manibulator drive control section 32 generates a drive signal according to the operation command signal inputted through the calculation section 31 and the rotation angle from the rotation sensor 34 to drive and control the manibulator drive mechanism section 33 to control the tip end of the manipulator 20. and drives and controls the intermediate joint 20a of the manipulator 20.

In the above configuration, when the operating unit 10 is operated by the operator 18, the force/torque thereof is detected by the force/torque sensor 19 and input manually to the subtracter 24. At the same time, the manipulator tip force/torque sensor 19
The force/torque at the tip of 0 is detected and output to the multiplier 26. This multiplication section multiplies the input force/torque by the force feedback factor and outputs the result to the subtracter. The subtracter is the input operation part 1
The target force/torque is calculated by subtracting the force/torque of 0 and the force/torque of the tip of the manibulator 20 and output to the multiplier 27. The multiplication unit 27 multiplies the input target force/torque by the operation unit driven characteristic gain and outputs the result to the operation unit drive control unit 28 . The operating section drive iIJa'lli 28 generates a drive signal corresponding to the input target force/torque and outputs it to the operating section drive mechanism section 29 to control the position and orientation of the operating section 10. At this time, the position/orientation signal of the operation unit 10 is transmitted to the calculation unit 3.
11; Output. The calculation unit 31 generates a motion command signal corresponding to the input position and orientation and outputs it to the manipulator drive control unit 32. The manipulator drive control section 32 generates a drive signal corresponding to the operation command signal to drive and control the manipulator drive mechanism 33, thereby controlling the position and orientation of the manipulator tip.

Next, when driving and controlling the intermediate part of the manipulator 10, the lower arm holding part 21 is attached to the operating part 10, and the operator
8 is holding the operation unit 10 in his/her lower arm 18a.
is attached and selectively operated. Then, as described above, the two operating unit drive mechanisms are driven and controlled in the calculation unit 31 in accordance with the operating position and posture of the operating unit 10, and the position and posture signals are input manually, and the lower arm holding mechanism is Rotation angle detection values are input from the rotation angle detection sensors 22d and 23a of the section 21. Here, the calculation unit 31 uses the rotation angle detection sensor 22.
From the rotation angle of d and 23a and the position and posture of the operating unit 10,
The relative position and posture of the operating section 10 and the lower arm holding section 2l are determined as described above, and the intermediate joint 20 of the manipulator 20 is
The position and orientation of H are calculated and an operation command signal is output to the manipulator drive control section 32. Then, the manipulator drive control section 32 generates a drive signal corresponding to the input operation command signal, drives and controls the manipulator drive mechanism section 33 corresponding to the intermediate joint 20a of the manipulator 20, and changes the position of the intermediate joint 20a of the manipulator 20. - Drive and control posture.

Note that the lower arm holding section 21 attached to the operating section 10 is
When operated in combination with the operation of the operating section 10, as described above, the position and orientation of the manipulator tip are commanded and controlled, and at the same time, the position and orientation of the intermediate joint 20a are commanded and controlled. Further, when the lower arm holding part 21 is operated with the lock operator (not shown) for locking the operation part being operated so that the operation part 10 is locked in the operation position, the operation part 10 is in the operation position. While locked, only the intermediate joint 20a of the manibulator 20 is commanded and controlled.

In this way, the operation command device has two directions coaxial and orthogonal to the rotation axis of the second rotation mechanism 16 of the operation section 10.
A lower arm holder 21 is provided that can be freely rotated around an axis, and the rotation angle of the lower arm holder 21 around two axes and the operating part 1 are
The relative position and posture of the lower arm holding section 21 and the operating section 10 are determined from the position and posture of 0, and the operation command signal of the manipulator intermediate joint is calculated based on this relative position and posture. The intermediate joint 20a is configured to be command-controlled. According to this, accurate calculation of the relative position and posture of the lower arm holding part 21 and the operation part 10 is realized without being affected by the holding structure of the lower arm holding part 21, and the lower arm holding part 21 The holding structure of the lower arm holding part 21 can be simplified compared to the conventional exoskeleton type operation command device, so the feeling of being restrained by the lower arm holding part 21 during operation is reduced, and easy handling is realized. It is possible to promote downsizing of the lower arm holding portion 21.

In the above embodiment, the intermediate joint 20a of the manipulator 20, which has six degrees of freedom (three translational axes and three rotational axes), is configured to be commanded and controlled around one axis (one degree of freedom). It is applicable without limitation to the number.

Further, in the above embodiment, the lower arm holding part 21 is formed into a ring shape and is attached to the lower arm part 18a of the operator 18, but the present invention is not limited to this. It is also possible to provide a belt and use this belt to attach it to the lower arm 18a of the operator 18.

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, according to the present invention, the operation command is simplified in structure, improves handling operability, and facilitates miniaturization as much as possible. equipment can be provided.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a manibulator system to which an operation command device according to an embodiment of the present invention is applied, FIG. 2 is a diagram showing a main part of the operating section in FIG. The figure is the first
FIG. 4 is a circuit configuration diagram showing the control system shown in the figure, and is a diagram shown to explain the operation of FIG. 2. 10... Operation unit, 11... Support structure, 12-14.
... First to third field translation mechanisms, 15 to 17... First to third rotation mechanisms, 18... Operator, 18a... Lower arm portion, 19... Force/torque sensor, 20... Manipulator, 20a... Intermediate joint, 21... Lower arm holding part,
22... Fourth rotation mechanism, 22a... Housing,
22b... bearing, 22c... damper mechanism, 22d
... rotation angle detection sensor, 23 ... fifth rotation mechanism,
23g...Rotation angle detection sensor, 24...Subtractor, 2
5... Manipulator tip force/torque sensor, 26
．． 27... Multiplication unit, 28... Operation unit drive control unit, 2
30. 34... Rotation angle sensor, 31... Arithmetic unit, 32... Manibulator drive control unit, 33... Manibulator drive mechanism unit.

Claims (1)

[Scope of Claims] An operation command device that remotely commands and controls the position and orientation of a distal end portion of a multi-joint manipulator in conjunction with the operation of an operation unit having a plurality of translational and rotational degrees of freedom, comprising the steps of: a lower arm holding part that is rotatably provided around two axes that are coaxial and orthogonal to a predetermined rotational degree of freedom of the lower arm holding part; and a rotation angle that detects the rotation angle of the lower arm holding part about the two axes. a detection means, a detection value of the rotation angle detection means and an operation position/position of the operation section;
command control means for calculating a motion command signal for an intermediate joint of the multi-joint manipulator by determining the relative position and attitude of the lower arm holding part and the operating part from the attitude, and driving and controlling the intermediate joint of the multi-joint manipulator; An operation command device comprising: