JPH03256687A - End effecter discriminating device and manipulator having same discriminating device and manipulator system - Google Patents

Abstract

PURPOSE:To instantaneously and reliably discriminate an end effecter during mounting of a manipulator and the end effecter by providing a means to discriminate a mounted end effecter. CONSTITUTION:When an object containing an end effecter 102 is grasped by a manipulator 101, information 107, e.g. a marking formed on an object to be grasped containing the end effecter, is read by a discriminating means 108 mounted on the grasping part of the manipulator 101, and the object containing an end effecter 102 is discriminated. Further, by inputting the discriminating information 107 to a control device 105 of the manipulator 101, the tip co-ordinate of the manipulator 102 is controlled from the shape and the size of the object containing the end effecter 102 grasped at present.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an end effector identification device for a space manipulator for exchanging various end effectors, a manipulator having the same, and a manipulator system.

[Conventional technology]

The conventional space manipulator is JP-A-1-169121.
As described in the publication, when holding an object including an end effector with a manipulator, it is possible to remove misalignment, align, pull in, and fix the joint between the manipulator tip and the object. It had a shape and mechanism, and was used to detect the completion of the connection.

[Problem to be solved by the invention]

The above-mentioned conventional technology did not have a function to identify the object to be gripped by the manipulator, so in order to identify the object to be gripped, it is necessary to check historical data regarding the movement of the object, or to directly identify the object with the eye a or a television camera. It was necessary to make a judgment based on dimensions and shape, etc. However, the former method is not practical from an operational point of view, and the latter method is difficult to understand in direct sunlight and darkness compared to the orbital environment. There is a problem in that it is difficult to identify objects that are similar in size and shape, and that there is a high possibility of identification. When working with a fixed manipulator while exchanging various end effectors, it is necessary to re-enter the end effector tip coordinates into the manipulator control device each time the end effectors are replaced, as the dimensions and shapes of each end effector are different. The problem is that the operation is complicated.

SUMMARY OF THE INVENTION An object of the present invention is to provide an end effector recognition device and an end effector recognition device that can easily and reliably identify an object to be gripped by a manipulator, and further reduce the burden on an operator by eliminating the labor involved in replacing an end effector. An object of the present invention is to provide a manipulator and a manipulator system having the same.

[Means for Solving the Problems] In order to achieve the above object, an end effector recognition device according to the present invention, a manipulator having the same, and a manipulator system include a device that is unique to the object at the gripping point of the object including the end effector. markings, etc. are applied, and an end effector identification device equipped with a means for identifying the markings, etc. is provided on the gripping portion of the manipulator, and a means is further provided for using the identification information to control the tip coordinates of the manipulator. It is something.

[Effect]

The end effector identification device, the manipulator having the same, and the manipulator system are such that when the manipulator grips the object including the end effector, the identification means provided in the grip portion of the manipulator is used to identify the object to be gripped including the end effector. It is possible to identify the object including the end effector by reading information such as markings, etc., and to input this identification information into the control device of the manipulator. It can be used to control the tip coordinates of the manipulator from medium dimension data.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

FIG. 1 shows an end effector identification device 1lt according to the present invention.
- Figure 1 shows an example of a manipulator system for W. In FIG. 1, a 101i manipulator,
102 is an end effector A.

103 is an angle sensor signal, 104 is a joint drive signal, 10
5 is a seat 11A conversion calculator, 10dFi dimension database, 107 is a barcode, 108 is a barcode reader, 1
09 is the barcode information, 110 is the end eye 7 exme dimension data, 111 is the convex coupling mechanism, 112 is the concave coupling mechanism, 115 is the tip target generator, and 114 is the tip eye I! It is a value.

In the configuration shown in FIG. 1, a replaceable end effector 102 can be attached to the manipulator 101 at its tip. When attached, the manipulator 101 is fixedly held by convex and concave coupling mechanisms 111 and 112. In order to control the manipulator 101, the target values 114 of the position and orientation of the tip generated by the tip target generator 115 are input to the seat S conversion calculator 105, coordinate conversion calculations are performed, and the angle sensors of each joint are input. By generating a drive signal 104't- which is the difference from the signal 103, it is possible to bring the tip of the manipulator 101 to a predetermined position and attitude.

When there are several types of end effectors that can be replaced and the dimensions of each end effector are different, the dimensions of those end effectors are stored in the coordinate conversion calculator 105 as a dimension database 106.
Furthermore, unless the type of end effector currently attached is known, the tip of the manipulator 101 cannot be made to accurately match the tip target value 114. Therefore, a code 107 is provided at the joint of the end effector AlO2, and this code is read by a barcode reader 108 provided on the manipulator 101 to recognize the type of the end effector AlO2.

Sarah told me that the barcode information 109 is the dimension data page 1.
Send to 06) '107: End effector dimension data 110f: Dimension database 1
06) Input to the coordinate transformation calculator 105. The coordinate conversion calculator 105 uses this dimensional data to create a zero-order system that can fully control each joint of the manipulator 101 so that the tip of the end effector matches the tip target value 114 generated by the tip target volume generator 113. Coordinate conversion calculator 10
The calculation to be performed in step 5 will be explained as shown in FIG.

FIG. 2 is an explanatory diagram showing the shapes and dimensions of the manipulator 101 and end effector shown in FIG. 1. In FIG. 2, 201 is the first joint of the manipulator 101;
202 is a second joint, 203 is a fifth joint, 204 is a fourth joint, 205 is a fifth joint, 206 is a sixth joint, 207 is an end effector B, and 208 is an end effector C. It has six joints from joint 201 to sixth joint 2060, and the housing end effectors are end effector AlO2 to end effector 020.
Three types of 8 are available. The origin of the reference coordinate system in FIG. 2 is located at the base of the manipulator 101, and
The y-axis is directed toward the back of the paper, and the two axes are directed upward. The length of each arm of the manipulator 101 is t, ~t5, and the length of the end effector 102, 207, 208 is 61 g.
+i121e4, dimension e3, and angle O.

The calculations to be performed by the coordinate conversion calculator 105 based on the shape and dimensions shown in FIG. 2 will be explained next. Now, the target position and attitude of the tip of the manipulator 101 (the connecting portion of the convex coupling mechanism 111 to the end effector concave coupling mechanism 112) are expressed as follows.

Here, x/ , y/ , , / are the coordinates of the tip of the manipulator 101, respectively, and α'
, β′.

r' are roll angle, pitch angle, and yaw angle, respectively. At this time, it is necessary to obtain the target value # of each joint 201 to 206 of the manipulator 101.

q/, = ” ”-”mts II, = aim2 (q/y/-q's) S, = θ1
．． Focus θ on C.

Here, θ and θ6 are angles of the first joint 201 to the sixth joint 206. Each joint angle θ, to θ6 is given by the following formula.

n' = Seagull γ'Wound β'n' = Blood r'Fish β'n' = -Blood β' T, = Yu β'-α'Q' = as r' T, -sfn r'asα
'0/ ==Blood γ/T1+■r' (2) α'O'=Width β
'Blood α' Singing (1', = x'-Cn', t5+t,)q'=y'-
n9t5 C214"■#254 8254=mθ254 T2 = 'l', -02sala (
5) 〒s ” Stq'y −((:tq', 152
34t4) = - End: 7" = a tm 2 (S, /C3) = C3t, 10t2 "5st3 -a"'234- (θ2 + θ3) If θ4>180" then θ4=04-360"'4<-
IBO” then #4=04+360605-?,: S, O, -C, O.

'r, =c, o, ten s, o.

S5: 1lbl #4. C5= 也θ5 The tip end value 114 generated by the tip target generator 113 is expressed by X as follows.

0,=mrdnβin a 10 cm r cas aO
1 = cap β yang α ax = sfnrml fish α + C11ll r sin α &
, = Naki β Bei α and shi〈.

When the end effector A102i is attached to the tip of the manipulator 101, assuming that the target value at the tip is X, the target value X at the root, that is, the tip of the manipulator 101 is given by the following equation.

: O167 (2) β = tdxx1 part β = - - β = ■γ Blood β derived α - flood r part α Substituting this into equation (5), each joint 201 to 206 of the manipulator 101 at that time Angle value of 11
〜#6 can be obtained. Similarly, the end effector B2 and the end effector manipulator 10 are less than (7)t (When O7 is installed, the target @x of the tip of C2G3 is given by the formula 78) .

As described above, even if the shape and dimensions of the end effector change, the tip of the end effector attached to the manipulator 101 can always be brought to the position and attitude of the tip target value 114.

〔Effect of the invention〕

According to the present invention, the end effector can be instantly and reliably identified when the manipulator and end effector are attached, so there is no need to check the history of the movement of the end effector or to identify it in a visually adverse environment on orbit. It disappears. The data identified in the case is imported into the manipulator control system, and the manipulator tip coordinates are automatically controlled taking into account the shape and dimensions of the end effector currently installed. The effort of updating data can be saved.

In this way, the burden on the manipulator operator can be significantly reduced! This has the effect of significantly improving the operational efficiency of on-orbit work.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of a manibus concentrator system having an end effector identification bag ft according to the present invention, K
FIG. 2 is an explanatory diagram showing the shape and dimensions of the maniverator and end effector shown in FIG. 1. 101... Manipulator, 102...
- End effector, 105...Coordinate transformation calculator, 106, -, -Dimension f-tabase, 107...
...barcode, 108...barcode)" reader, 111, 112...coupling mechanism, 1
13...Advanced target generator, 201-206.
...Joint, 207.208... End effector B, C.

Claims (1)

[Scope of Claims] 1. An end effector identification device in a manipulator for attaching and detaching an end effector, which includes means for identifying an attached end effector. 2. The end effector identification device according to claim 1, wherein the means for identifying the end effector applies a marking or the like to the end effector, and further comprises means for identifying the marking or the like on the manipulator side. 3. A manipulator comprising the end effector identification device according to claim 1 or 2. 4. A manipulator system comprising the manipulator according to claim 3, and means for using data on the end effector identified by the end effector identification device to control the tip coordinates of the manipulator.