JPH04189480A - Master slave manipulator - Google Patents

Abstract

PURPOSE:To save a space on a master side by operating each lever or grip selectively. CONSTITUTION:A grip 7 on a master side 10 which is operated at the same position and attitude as those of a hand tip part 17 on a slave 20 side for setting the position and the attitude thereof. Furthermore, each operating lever 8 corresponding to each coordinate axis is provided for the purpose of changing the position or speed relating to each coordinate axis, while the grip 7 is holding the attitude of a hand tip part 17 on the slave 20 side, and each lever 8 or the grip 7 is selectively operated.

Description

[Detailed description of the invention] [Industrial application field]

This invention has a predetermined position on the slave's hand. A master/slave manipulator that changes the position or speed of the hand part by controlling the master side while maintaining this posture after taking a posture, and also aims to reduce the size of the master side and improve operability. Regarding.

[Conventional technology]

A conventional example will be described with reference to FIG. 9, which is a perspective view thereof. In the figure, 27 is the master manipulator (
2o is a slave manipulator (hereinafter referred to as slave), and 28 is a controller. Cartesian coordinate axes x, y, z fixed in the workspace are established. The master 27 includes each component without a reference numeral, for example, in order from the bottom, a base part, an upper body part, an upper arm part, a lower arm part, 3
A wrist portion consisting of parts is rotatably or pivotably connected by each joint 1 to 6, and a grip 26 for operation is provided at the tip of the hand portion, that is, the hand portion. This grip 26 has six degrees of freedom due to the six joints 1 to 6, that is, it can take positions in each coordinate axis direction and rotational positions (postures) around each coordinate axis. The slave 20 has the same shape as the master 27, and its corresponding constituent members are connected by joints 11 to 16.
A hunt 17 is provided at the tip of the hand. The tip or base of the hand 17 also has six degrees of freedom, similar to the grip 26. By operating the grip 26, depending on the position and posture,
The position and posture of the base of the hand 17 can be determined via the controller 28. More specifically, when the position and posture of the master 27 are changed by operating the grip 26, the positions of the joints 1 to 6 are detected by encoders attached to each joint. This position signal controls the shaft position of the motor attached to each corresponding joint of the slave 20 via the controller 28, and positions each joint of the slave 20 so as to match the position of each joint of the master 27. .

[Problem to be solved by the invention]

The conventional example described above has the following drawbacks. First, they are not good at changing the position of the slave's hand while maintaining its posture, that is, moving it in parallel. Second, they are not good at moving the slave's hand in a straight line while maintaining its posture. 1st. The second disadvantages are caused by the following difficulties in master operability. One reason is that the friction and inertia associated with the rotation of each joint of the master vary, which impedes smooth grip operation. The other reason is that the operator himself is not good at performing the above-mentioned operations. By the way, in order to solve the above-mentioned problems, there is a method of operating the slave using a joystick-type operating device instead of the master, although it is not exactly a master-slave manipulator. FIG. 10 is a perspective view of this other conventional example. 30 is a joystick type operating device, 29 is a corresponding controller, and slave 20 is the same as in FIG. Note that rectangular coordinate axes X, Y are fixed to the base of the hand 17 and are parallel to the rectangular coordinate axes x, y, z. Z (tool coordinate system) is set. In FIG. 10, an operator grasps the joystick 31 of the operating device 30 and moves it in the direction of each coordinate axis x, y,
When the hand 17 is rotated around the coordinate axis Z, the hand 17 is rotated while maintaining the posture of the hand 17 according to each displacement amount and angle.
The position or velocity in the direction of the corresponding coordinate axis of 7 is determined. This is a command method called a so-called position command or speed command. In this other conventional example, each displacement amount and angle of the joystick 31 is detected by a potentiometer installed inside the operating device 30, and outputted as a speed command signal. This speed command signal is integrated by the integrator of the controller 29, converted into a position command signal, and further converted into a position command for each joint of the slave by a coordinate converter. The position of the motor is controlled, and the hand is finally positioned. As described above, the method using a joystick type controller is convenient for positioning the hand, but it is not possible to determine the posture of the hand. Therefore, in order to take advantage of the respective strengths of the joystick type controller and the master, a method may be adopted in which the joystick type controller and the master are used in combination while being switched as appropriate. This combination method has two drawbacks: ■ The area occupied by the operating device becomes large; ■ The postures of the master and slave match during master operation, but do not match when operating the joystick; therefore, when switching from joystick operation to master operation, There are problems such as the need for extra operations to match the slave's posture to the slave's posture. The object of this invention is to solve the problems that exist in the conventional technology, and to make the slave hand part take a position and posture.
To provide a master/slave manipulator in which the position or speed of a hand part can be changed by an operation on the master side while maintaining this posture, and the master side is miniaturized and operability is improved.

[Means to solve the problem]

In order to solve this problem, the master/slave manipulator according to claim 1 includes: a master side grip that is operated to the same position and posture as the slave side hand; and an operation lever corresponding to each of the coordinate axes, for changing the position or speed related to each of the coordinate axes while maintaining the posture of the slave side hand; and each of the levers or the grip is selectively manipulated. The master/slave manipulator according to a second aspect of the present invention is the manipulator according to the first aspect, in which the direction of displacement of each operating lever matches the direction of the corresponding displacement or speed of the slave-side hand portion. The master/slave manipulator according to claim 3 is the manipulator according to claim 1 or 2, wherein each joint on the master side is provided with a drive motor, and when each operation lever is operated, the operation is performed by the drive of each motor. , the position of the slave hand. Make the posture match the position and posture of the grip on the master side. The master/slave manipulator according to a fourth aspect of the present invention is the manipulator according to the third aspect, wherein the signal corresponding to the displacement amount of each operating lever is transmitted to the slave side. To the motor of each joint on the master side, the slave side,
The coordinates are transmitted in parallel to the master side via the corresponding coordinate conversion means. The master-slave manipulator according to claim 5 is the manipulator according to claim 3, wherein a signal corresponding to the displacement amount of each operating lever is transmitted to the motor of each joint on the slave side via the corresponding coordinate conversion means. is,
The motor of each joint on the master side is driven so that the position of each joint on the slave side matches the position of each joint on the master side. The master-slave manipulator according to claim 6 is the manipulator according to claim 3, in which a signal corresponding to the displacement amount of each operating lever is transmitted to the motor of each joint on the master side via the corresponding coordinate conversion means. The motor of each joint on the slave side is driven so that the position of each joint on the master side matches the position of each joint on the slave side.

[Effect]

In the master/slave manipulator according to any one of claims 1 to 6, a grip or a lever is commonly selectively operated. The grip operation determines the position and posture of the slave hand, and the lever operation changes the position or speed of the slave hand with respect to each coordinate axis while maintaining the slave hand's posture. In particular, in the master-slave manipulator according to the second aspect, when each lever is operated, the slave-side hand portion is driven by the displacement or speed in the operating direction. Particularly, in the master/slave manipulator according to claim 3, when each lever is operated, the position and posture of the grip on the master side and the position of the hand portion on the slave side are controlled by driving a motor provided at each joint on the master side. The posture matches. In particular, in the master-slave manipulator according to claim 4, a signal corresponding to the displacement amount of each lever is sent to the motor of each joint on the slave side and the master side via each coordinate conversion means corresponding to the slave side and master side. The information is transmitted in parallel, and the position and posture of the master's green knob match the position and posture of the slave's hand. In particular, in the master-slave manipulator according to claim 5, a signal corresponding to the displacement amount of each lever is transmitted to the motor of each joint on the slave side via the corresponding coordinate conversion means, and the position of each joint on the slave side is transmitted to the motor of each joint on the slave side. The motors of the respective joints on the master side are driven so that the position and position of each joint on the master side match, and the position and posture of the grip on the master side match the position and posture of the hand on the slave side. In particular, in the master/slave manipulator according to claim 6, a signal corresponding to the displacement amount of each lever is transmitted to the motor of each joint on the master side via the corresponding coordinate conversion means, and the position of each joint on the master side is transmitted to the motor of each joint on the master side. The motor of each joint on the slave side is driven so that the position and position of each joint on the slave side match, and the position and posture of the grip on the slave side match the position and posture of the hand on the master side.

【Example】

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a common perspective view of three embodiments of the present invention. In the figure, the slave manipulator 20 is the same as in the conventional example, but the master manipulator 10 or 25 is provided with a grip 7 or 18 having a different configuration from that in the conventional example. Second
．． Each controller 21 according to each third embodiment
°22.23 is used. FIG. 2 shows the common grip in each embodiment (
a) is a side view thereof, and (b) is a front view thereof. In these figures, the grip 7 includes levers 8x, By, and 8z corresponding to each coordinate axis and a switch 9, each of which is arranged so as to be operable with a finger. The levers 8x, 8y, and 8z are arranged in parallel on the front and can be operated in common in the longitudinal direction of the grip 7. The switch 9 is a push button operation type, and there are 3 internal buttons that can be operated simultaneously.
Equipped with a series of switches. FIG. 3 shows another grip common to each embodiment, (a
) is its side view, and fb) is its front view. In these figures, the grip 18 is provided with levers ax, 8y, 8z corresponding to each coordinate axis and a switch 9, as in FIG. 2. However, in this case, the installation locations and operation directions of the levers 8x, By, and 8z are different, and each operation direction corresponds to the orthogonal coordinate axes x, y, and z, taking into consideration the intuitiveness of the operation. The mechanism related to each lever 8x, 8y, 8z will be explained with reference to FIG. 4. In FIG. 4, lever 8 is representatively explained. FIG. 4(a) is a side view of the lever mechanism;
(1)) is a plan view thereof. In FIG. 4, the lever 8 is rotatably supported via a bearing 82 around a shaft 81 erected on a base frame 89, and is supported by two levers stretched between the base frame 89 and the base frame 89. Spring 87.88
is positioned at the zero position in a force equilibrium manner. A boo IJ83 is fixed to the end of the shaft 81, a pulley 84 is fixed to the shaft end of the potentiometer 86 fixed to the base frame 89,
A belt 85 is wound between each pulley 83 and 84. Therefore, in FIG. 4(a), when the lever 8 is operated in the vertical direction, the amount of displacement is converted into the rotational position of the shaft of the potentiometer 86. By the way, No. 1. Second. The difference between the third embodiments lies mainly in the configuration and operation of the control system, in other words, in the configuration and operation of the controller. The first embodiment will be described with reference to FIG. 5 of its control system diagram. In FIG. 5, the master manipulator 10 typically includes a grip 7, an encoder 51 attached to a certain joint, a lever 8 in the direction of the coordinate axis where the grip 7 is located, and a potentiometer 86 belonging thereto. The controller 21 also includes an integrator 54, a coordinate converter 55,
A switch 93 and an amplifier 63 are representatively shown. The slave manipulator 20 typically includes a mocro 2 and an encoder 61 directly connected thereto. The operation of the first embodiment is as follows. The position of the hand 17 of the slave 20 (see FIG. 1) by the grip 7;
When operating the posture, first switch 93 is switched to the broken line position. This switch 93 is built into the switch 9 shown in FIGS. 2 and 3. Next, by operating the grip, a position signal of the encoder 51 of a certain joint is output. This position signal is sent to the slave 20 via the switch 93.
The position and posture of the hand 17 are transmitted to the master 10.
The positions of the joints on the slave side corresponding to the master side are controlled so as to match the position and posture of the grip 7. This position control is performed using an amplifier 63, a motor 62, and an encoder 6.
1 through negative feedback control. Next, by operating the lever 8, only the position of the hand 17 can be changed while the posture of the hand 17 is maintained. When the lever 8 is operated after switching the switch 93 to the solid line display position, the amount of displacement in a certain coordinate axis direction is outputted from the potentiometer 86 as a speed command signal. This speed command signal is integrated by an integrator 54 and converted into a position command signal, and further converted by a coordinate converter 55 into a position command signal for the slave-side joint. This position command signal passes through the switch 93 to control the position of the corresponding joint. This position control is similar to that in grip operation. In this first embodiment, when operating the grip 7, the master,
Although the positions and postures of the slaves match, they do not match when the lever 8 is operated. Therefore, when switching from operation using the lever 8 to operation using the grip 7, the problem remains that an extra operation is required to match the position and attitude of the master to the position and attitude of the slave. In order to solve this problem, we will introduce the second method described below. Third. Each of the fourth embodiments works. FIG. 6 is a control system diagram of the second embodiment. In the figure, the second embodiment is structurally different from the first embodiment as follows.
In the master 25, the motor 52 is directly connected to the encoder 51, and in the controller 22, each switch 91.
92, a coordinate converter 56 for the master side, and an amplifier 5
3. Note that there is no change in the slave 20. The operation of the second embodiment is as follows. The position of the hand 17 of the slave 20 (see FIG. 1) by the grip 7;
When operating the posture, first select the 3 built-in switch 9.
Switches 91, 92 and 93 of the series are switched to the dotted line position. Next, the position signal of the encoder 51 is output by grip operation. This position signal is transmitted to each switch 92.
93 to the slave 20, and controls the positions of the joints on the slave side corresponding to the master side so that the position and posture of the hand 17 match the position and posture of the grip 7 of the master 25. Next, by operating the lever 8, only the position of the hand 17 can be changed while maintaining the posture, and the position and posture of the grip 7 on the master side can be made to match the position and posture of the hand 17. Each switch 91, 92.
93 to the solid line display position and then operate the lever 8, the speed command signal output from the potentiometer 86 is integrated by the integrator 54 and converted into a position command signal, and then sent to each coordinate converter 55 via the switch 91.゜56
is converted into position command signals for each joint on the slave side and the master side in parallel. A position command signal to the slave side is passed through a switch 93 to control the position of the corresponding joint. Further, the position command signal to the master side is sent to the amplifier 53. Motor 52. A control loop of the encoder 51 and the switch 92 switched to the solid line display side controls the position of the corresponding joint on the master side. Moreover, the position control of each joint on the slave side and the master side is performed so that the positions and postures of the hand 17 and the grip 7 match. In other words, location. Each coordinate converter 55, 56 performs coordinate conversion so that the postures match. Moreover, the position command signal from the lever 8 is transmitted to the slave side.
The coordinates are transmitted in parallel through the coordinate converters 55 and 56 corresponding to the master side, so that the position and posture of the grip 7 on the master side coincide with the position and posture of the hand 17 on the slave side. Therefore, the positions and postures of the grip 7 on the master side and the hand 17 on the slave side can be quickly matched. FIG. 7 is a control system diagram of the third embodiment. In the same figure, the difference in structure between the third embodiment and the second embodiment is as follows.
A coordinate converter 56 corresponding to the master side in the controller 23
Except for this, the arrangement of the amplifier 53 and the switch 91 has been changed. Note that there is no change in the master 25 and slave 20. The operation of the third embodiment is as follows. First, by grip operation, a position signal from the encoder 51 is transmitted to the slave 20 via each switch 92, 93, as in the second embodiment, and the position and posture of the hand 17 are changed to the position of the grip 7 of the master 25. , the positions of the joints on the slave side corresponding to the master side are controlled so as to match the posture. Next, by operating the lever 8, the potentiometer 86
The speed command signal output from is integrated by an integrator 54 and converted into a position command signal, and then converted into a position command signal for the joint on the slave side by a coordinate converter 55, as in the second embodiment. The position of the corresponding joint is controlled via the switch 93. Also, so that the position of each joint on the slave side matches the position of each joint on the master side, that is, the position signals of each encoder 51, 61 are matched, and the difference between them is made zero.
The motor 52 associated with the master side joint is driven. Therefore, grip 7 on the master side and hand 1 on the slave side
Compared to the second embodiment, the position and orientation of 7 will be more accurate, although there will be a slight delay in matching. FIG. 8 is a control system diagram of the fourth embodiment. In the figure, the fourth embodiment is structurally different from the third embodiment as follows:
Coordinate converter 5 corresponding to the slave side in the controller 24
5, a corresponding coordinate converter 56 is provided on the master side,
By changing the arrangement of the amplifier 53 and the switches 91 and 92, the master 25 and slave 20 remain unchanged. The operation of the fourth embodiment is as follows. First, by operating the grip, the position signal from the encoder 51 is transmitted to the slave 20 via each switch 92, 93, as in the third embodiment, and the position and posture of the hand 17 are transferred to the position and posture of the glyph 7 of the master 25. , the positions of the joints on the slave side corresponding to the master side are controlled so as to match the posture. Next, by operating the lever 8, the potentiometer 86
After the speed command signal output from the integrator 54 is integrated and converted into a position command signal, the coordinate converter 56 converts it into a position command signal for the joint on the master side, unlike in the third embodiment. , the position of the corresponding joint is controlled via the switch 91. In addition, the slave side is adjusted so that the joint positions on the master side and the joint positions on the slave side match, that is, the position signals of each encoder 51 and 61 are matched, and the difference between them is reduced to zero. A motor 62 associated with a certain joint is driven. Therefore, the master side grip 7 and the slave side hand 17
As in the third embodiment, the positions and orientations of the two images are more accurate than in the second embodiment, although there is a slight time delay in matching them. To add a little bit to what has been explained above, 2nd and 3rd.
In each of the fourth embodiments, when switching from lever operation to grip operation, the position of the grip and the hand,
This eliminates the need for an operation to adjust the posture, and the operability can be improved accordingly. In particular, the second embodiment is similar to the third embodiment. Compared to each of the fourth embodiments, this embodiment has the advantage that the positions and postures of the grip and the hand can be made to coincide with each other in terms of time, but it has the disadvantage that the degree of coincidence is somewhat inferior. Note that the third embodiment and the fourth embodiment are generally the same. However, the only difference is in how the positions and postures of the grip and hand match, and whether the slave-side reference is the master-side reference, and this is not a physical difference.

【Effect of the invention】

In the master/slave manipulator according to any one of claims 1 to 6, a grip or a lever provided on the grip is commonly selectively operated. The grip operation determines the position and posture of the slave hand, and the lever operation changes the position or speed of the slave hand with respect to each coordinate axis while maintaining the slave hand's posture. Therefore, the respective advantages of grip operation and lever operation can be exerted, and the space on the master side can be saved. In particular, in the master-slave manipulator according to 11tl requirement 2, when each lever is operated, the slave side hand part is driven with the displacement or speed in the operating direction, so operation based on intuition regarding the direction is possible. , the operability can be improved. In particular, in the master/slave manipulator according to claim 3, a drive motor is provided at each joint on the master side, and when each lever is operated, the grip on the master side is driven by the motor provided at each joint on the master side. The position and posture of the hand match the position and posture of the slave hand. Therefore, regardless of whether the grip is operated or the lever is operated, after the operation, the positions and postures of the master side grip and the slave side hand portion can be made to match, so that operability can be improved. In particular, in the master-slave manipulator according to claim 11, signals corresponding to the displacement amount of each lever are sent in parallel to the motors of each joint on the slave side and the master side via the respective coordinate conversion means corresponding to the slave side and master side. As a result, the position and posture of the grip on the master side match the position and posture of the hand on the slave side. Therefore, the positions and postures of the master grip and the slave hand can be matched more quickly, and when switching from lever operation to grip operation, there is no need to perform operations to align the positions and postures of both. Therefore, the operability can be improved accordingly. In particular, in the master/slave manipulator according to claim 5 or 6, a signal corresponding to the displacement amount of each lever is transmitted to the motor of each joint on the slave side via the corresponding coordinate conversion means, and the signal corresponding to the displacement amount of each lever is transmitted to the motor of each joint on the slave side. location and,
The motors of the joints on the master side are driven so that the positions of the joints on the master side match, and the position and posture of the grip on the master side match the position and posture of the hand on the slave side. Therefore, the positions and postures of the master side grip and the slave side hand can be more accurately matched, and when switching from lever operation to grip operation, there is no need to perform operations to match the positions and postures of both. Therefore, the operability can be improved accordingly.

[Brief explanation of drawings]

FIG. 1 is a common perspective view of each embodiment of the present invention, FIG. 2 is a common grip in each embodiment, (a) is a side view thereof, (b) is a front view thereof, and FIG. 4 relates to another grip common to each embodiment, (a) is a side view thereof, (b) is a front view thereof, and FIG. 4 relates to a lever mechanism common to each embodiment, (a) is a side view thereof, (b) is its plan view, Fig. 5 is a control system diagram of the first embodiment, Fig. 6 is a control system diagram of the second embodiment, Fig. 7 is a control system diagram of the third embodiment, Fig. 8 9 is a control system diagram of the fourth embodiment, FIG. 9 is a perspective view of a conventional example, and FIG. 10 is a perspective view of another conventional example. Code explanation 1-6. 11-16: Joint, 7.18: Grip, 8.
8χ, 8)', 8z Nilever, 9. Switch, 91.92
．． 93: Switch, 10.25: Master manipulator, 20 Nislep manipulator, 21.22, 23, 24: Controller, 51.61:
Etsucoder, 52.62: Motor, 53.63: Amplifier, 54: Integrator, 55.56: Coordinate converter, 81: Axis, 82: Bearing, 83
．． 84: Pulley, 85; Belt, 86: Potentiometer, 87.88: Spring, (a)
(b) Figure 2 (]) (a) (b) Fourth evil

Claims (1)

[Claims] 1) A master side grip that is operated to the same position and posture as the slave side hand in order to determine the position and posture; and an operating lever corresponding to each of the coordinate axes to change the position or speed related to each coordinate axis while the grip is being held, and each of the levers or the grip is configured to be selectively operated. A master/slave manipulator featuring: 2) The master-slave manipulator according to claim 1, wherein the direction of displacement of each operating lever corresponds to the direction of the corresponding displacement or speed of the slave-side hand portion. 3) In the manipulator according to claim 1 or 2, each joint on the master side is provided with a drive motor, and when each operating lever is operated, the position and posture of the hand portion on the slave side are controlled by the drive of each motor. The master/slave manipulator is configured to match the position and posture of the grip on the master side. 4) In the manipulator according to claim 3, a signal corresponding to the displacement amount of each operating lever is transmitted to the motor of each joint on the slave side and the master side, and the coordinate conversion means corresponding to the slave side and the master side. A master/slave manipulator characterized in that the data is transmitted in parallel through the master/slave manipulator. 5) In the manipulator according to claim 3, a signal corresponding to the amount of displacement of each operating lever is transmitted to the motor of each joint on the slave side via the corresponding coordinate conversion means, and the signal corresponding to the amount of displacement of each operating lever is transmitted to the motor of each joint on the slave side. A master/slave manipulator characterized in that the motor of each joint on the master side is driven so that the position of each joint on the master side matches the position of each joint on the master side. 6) In the manipulator according to claim 3, a signal corresponding to the displacement amount of each operating lever is transmitted to the motor of each joint on the master side via the corresponding coordinate conversion means, and the signal corresponding to the displacement amount of each operating lever is transmitted to the motor of each joint on the master side. A master/slave manipulator characterized in that the motor of each joint on the slave side is driven so that the position of each joint on the slave side matches the position of each joint on the slave side.