JPH0550382A - Starting method of master/slave manipulator - Google Patents

Abstract

PURPOSE:To safely and smoothly start a master.slave manipulator by matching the positions and attitudes of the head part of the hand of a master and the positions and attitudes of the head part of the hand on a slave which is at a standstill in a rough permissible range manually with only the deflection detecting function of a controlling section operated. CONSTITUTION:The position and attitude of the grip 17 of a master 10 are made match with the position and attitude of the hand 27 of a slave 20 which is at a standstill in a rough permissible range. In the next step, the servo motor of a slave 6 is driven by a controller 30 to match the joint positions of the master 10 and slave 20, which correspond to each other at small driving power and low speed for matching the positions and attitudes of the grip 17 and hand 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for safely and smoothly starting a master / slave manipulator in an easy and quick preparation process.

[0002]

2. Description of the Related Art A conventional example in which a master manipulator (hereinafter simply referred to as a master) and a slave manipulator (hereinafter simply referred to as a slave) have the same shape is shown in a perspective view of FIG. Description will be given with reference to FIG. 3 which is a block diagram. In addition,
2 and 3 are common to application examples according to the invention described later.

In FIG. 2, 10 is a master, 20 is a slave, and 30 is a controller. The master 27 can rotate or swivel by each joint 11 to 16 each component member not labeled, for example, a base portion, an upper torso portion, an upper arm portion, a lower arm portion, and a wrist portion including three parts in order from the bottom. The grip 17 for operation is attached to the tip of the wrist, that is, the tip of the hand.
Is provided. This grip 17 has 6 joints 11-16
Has six degrees of freedom, that is, the position in each coordinate axis direction and the rotational position (orientation) around each coordinate axis can be taken. The slave 20 has the same shape as the master 10, and the respective constituent members corresponding thereto are connected by the joints 21 to 26, and the hand 27 is provided at the end of the hand. Hand or hand 27
Similarly to the grip 17, the root of 6 has 6 degrees of freedom.

By operating the grip 17, the base position and orientation of the hand 27 can be determined via the controller 30 in accordance with the position and orientation thereof. More specifically, by operating the grip 17 of the master 10, its position,
When the posture is changed, the positions of the joints 11 to 16 are detected by the position detectors attached to the respective joints. This position signal controls the shaft position of the motor attached to each joint of the slave 20 via the controller 30, and positions each joint of the slave 20 so as to match the position of each joint of the master 10. ..

In FIG. 3, a master 10 and a slave 20
And the controller 30 are represented by the corresponding joints 11 and 21, respectively. That is, each of the other joints 12-16, 21-26
Has the same structure. Now,
In the master 10, the position detector 11P is attached to the joint 11, and in the slave 20, the position detector 21P is attached to the joint 21 driven by the servomotor 21M. Controller 30
In, a deviation device 31 and an amplifier 32 corresponding to each joint 11, 21 are provided. When the master 10 is manually operated, the rotational position of the joint 11 due to this is detected by the position detector 11P,
It is input to the deviation device 31 of the controller 30 as a position command. On the other hand, the position signal of the position detector 21P of the slave 20 is input to the deviation device 31. By this deviation device 31, the deviation of the signal of each position detector 11P, 21P is obtained, in accordance with this,
The servo motor 21M is rotationally driven by the output of the amplifier 32. When the signal deviation becomes zero, that is, each joint 11,2
When 1 becomes the same position, the servo motor 21M stops and the automatic operation of the slave 20 for the joint 21 ends. The other joints are also automatically operated in the same manner, and as a result, the position and orientation of the hand 27 of the slave 20 are automatically operated so as to match that of the grip 17 of the master 10.

In the conventional example, generally, the position and the posture of the hand 27 and the grip 17 are matched in advance, that is, the joints 21 to 21
It is necessary to provide a preparatory step for bringing the corresponding ones of the joints 11 to 16 of the master 26 into the same rotational position. At that time, the slave 20 is not automatically matched with the master 10, but the slave 20 is manually matched with the master 10. In the method of automatically matching the slave 20 to the master 10, the attitude of the slave 20 is the master 10 in the initial state.
If it is significantly different from the above, the movement of the slave 20 for matching may be unexpected, and there is a risk that the safety of the operator is impaired. Therefore, in FIG. 2, while gripping the grip 17 of the master 10 and manually operating, the position and the posture of the hand 27 of the slave 20 are roughly adjusted based on visual observation, and as a result, the corresponding positions of the joints are determined. Match to almost the same. The startup is performed through this preparation process.

[0007]

In the conventional example, when the master 10 is roughly aligned with the slave 20 and then activated, the slave 20 makes a sudden movement according to the degree of disagreement, and the safety is improved. There is a risk of causing problems in terms of surface and mechanical strength and distortion. Here, in order to eliminate the sudden movement, as a countermeasure, if the master 10 is accurately aligned with the slave 20, the master 10,
The rotational positions of the joints of the slave 20 are detected, and the slave 20 is operated so that they match each other based on the data. Then, it takes a lot of man-hours for matching, which may be impractical. As another measure, the slave
If the policy of automatically matching 20 with the master 10 is adopted, in order to avoid the above-mentioned danger, it must be done at a low speed, and it has the same disadvantage that it takes a lot of man-hours.

An object of the present invention is to solve the above problems of the prior art and to provide a starting method of a master / slave manipulator for safely and smoothly starting the master / slave manipulator in an easy and quick preparation process. Especially.

[0009]

[Means for Solving the Problems] A master according to claim 1
The starting method of the slave manipulator is a manual type manipulator (hereinafter referred to as a master), and a slave manipulator (hereinafter, referred to as a master manipulator) operated by the controller so that the positions and orientations of the hand parts are matched with each other.
In the method of activating a manipulator consisting of a slave), by manually operating the master in a state in which only the deviation detection function of the controller is operated, the position and orientation of the hand portion of the master side portion of the slave side hand portion which is stopped. The first step of matching the position and attitude of the slave within a rough allowable range; and by automatically operating the slave with a small driving force and low speed via the controller, A second step of matching the position and the posture is provided, which is activated after the completion of the preparatory step.

A method of activating a master / slave manipulator according to a second aspect is the manipulator according to the first aspect, wherein the master and the slave have the same shape, and the positions and postures of the respective hand parts on the master side and the slave side. Is based on matching the position of each corresponding joint on the master side and the slave side.

A method of activating a master / slave manipulator according to a third aspect is the manipulator according to the first aspect, wherein the master and the slave have different shapes, and the positions and postures of the respective hand parts on the master side and the slave side. Is calculated from the position of each joint on the master side and the slave side.

[0012]

In the starting method of the master / slave manipulator according to any one of claims 1 to 3, first, as a first step, the master is manually operated while only the deviation detection function of the controller is operated, and The position and posture are made to match the position and posture of the slave hand part that is stopped within a rough allowable range, and then, in the second step, the slave is automatically operated with a small driving force and low speed via the controller, and the master Position of each hand on the side and slave side,
It is activated after matching the postures.

In particular, in the method of activating a master / slave manipulator according to a second aspect, the positions of the hand parts on the master side and the slave side are made to coincide by matching the corresponding joint positions on the master side and the slave side of the same shape. ， The postures are the same.

Particularly, in the method of activating the master / slave manipulator according to the third aspect, the first and the first positions are calculated based on the positions and postures of the hand parts respectively calculated from the joint positions of the modified master side and the slave side. Each step of 2 is advanced.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An application example of the starting method of a master / slave manipulator according to the present invention will be described below with reference to FIG. FIG. 1 is a flowchart showing the operation of the application example. In this case, the master and the slave have the same shape. The operation of the application example is as follows: (1) By manually operating the master while only the deviation detection function of the controller is in operation, the position and orientation of the hand part of the master can be adjusted to the position and orientation of the slave hand part that is stopped. The first step to match within the range, and (2) the slave is automatically operated with a small driving force and low speed via the controller, and the corresponding joint positions on the master side and slave side are made to match, so that the master side And a second step of matching the positions and postures of the respective hand parts on the slave side, and after that, the activation is performed. In the first step, the control function of the controller is stopped, but the deviation detection function is working. Therefore, the deviation of the rotational position of each joint between the master side and the slave side is calculated via the controller. Be done.

In FIG. 1, in step S1, the master M
By the manual operation of, the position and posture of the master side hand portion are made to substantially match the position and posture of the slave side hand portion. Steps S2 to S5 are procedures for checking whether or not the degree of previous matching is within an allowable range. That is, in step S2, the code i attached to each joint is initialized, and in step S3, the rotational position Θ on the master side for the joint i is initialized.
It is determined whether or not the difference between mi and the rotational position Θsi on the slave side is a rough allowable value a or less. If YES, that is, the allowable value a or less, the steps S4 and S5 are repeated and the same check is repeated for all joints. Here, n in step S5
Is the total number of joints, which is 6 in the example of FIG. Step S3
If NO in any of the joints, that is, if the allowable value a is exceeded, the process returns to the step before step S1 and the manual operation of the master M is performed in the form of fine adjustment. The process so far corresponds to the first step in the invention.

Step S6 corresponds to the second step in the present invention, and the corresponding joint positions on the master side and the slave side are made to coincide by a small driving force of the slave S and automatic operation at low speed via the controller. Thus, the positions and orientations of the hand parts on the master side and the slave side are the same. Next, the step S7 is started. In addition,
The slave S is automatically operated at low driving force and low speed.
This is to ensure safety. This is because the slave S is of the multi-joint type, and although it is matched with the master M within the allowable value a in the first step, there is a risk of making an unexpected movement.

By the way, when the master and the slave are different in shape, the comparison in step S3 in FIG. 1 is not the rotation position of each joint corresponding to the master side and the slave side.
This is performed for the position and orientation of each hand part on the master side and the slave side, which are calculated from the rotational positions of the joints on the master side and the slave side, respectively. Therefore, in the case of the deformed shape, the repetition for each joint becomes unnecessary. The same applies to step S6.

[0019]

According to the starting method of the master / slave manipulator according to any one of claims 1 to 3, firstly,
As a process, by manually operating the master while only the deviation detection function of the controller is working, the position and orientation of the hand part of the master are made to match the position and posture of the slave hand part that is stopped within a rough allowable range. Next, as the second step,
The slave is automatically operated with a small driving force and low speed via the controller, and the positions and postures of the hand parts of the master side and the slave side are matched with each other, and then the slave is started. Therefore,
The shock at the time of start-up is suppressed, safe and smooth start-up is performed, and the preparation process can be facilitated and speeded up.

Particularly, in the method of activating the master / slave manipulator according to the second aspect, the positions of the hand parts on the master side and the slave side are made to coincide by matching the corresponding joint positions on the master side and the slave side of the same shape. ， The postures are the same. Therefore, the positions and orientations of the hand parts on the master side and the slave side can be matched, that is, the starting preparation process can be performed easily and quickly.

Particularly, in the starting method of the master / slave manipulator according to the third aspect, the first and the first positions are calculated based on the positions and postures of the respective hand parts respectively calculated from the respective joint positions of the odd-shaped master side and the slave side. Each step of 2 is advanced. Therefore, although the positions and postures of the hand parts of the master side and the slave side are made to coincide with each other, that is, the starting preparation process is slightly inferior to that of claim 2, it is easy and quick enough in actuality. It is carried out.

[Brief description of drawings]

FIG. 1 is a flowchart showing the operation of an application example according to the present invention.

FIG. 2 is a perspective view common to an application example and a conventional example.

FIG. 3 is a block diagram related to automatic slave operation common to an application example and a conventional example.

[Explanation of symbols]

 10 master 11-16 joint 11P position detector 17 grip 20 slave 21-26 joint 21M servo motor 21P position detector 27 hand 30 controller 31 deviation device 32 amplifier

Claims (3)

[Claims] 1. A master manipulator of a manual type (hereinafter referred to as a master) and a slave manipulator (hereinafter referred to as a slave) which is operated by a controller so that the positions and orientations of the hand parts coincide with each other. In the method of activating the manipulator, by manually operating the master in a state in which only the deviation detection function of the controller is operated, the position and orientation of the hand portion of the master are rough compared with the position and orientation of the slave side hand portion when stopped. A first step of matching within a permissible range; by automatically operating the slave with a small driving force and low speed through the controller, thereby matching the positions and postures of the hand parts on the master side and the slave side A second step and a preparation step consisting of; and is activated after the completion of the preparation step. How to Start the Star-slave manipulator. 2. The manipulator according to claim 1, wherein the master and the slave have the same shape, and matching the positions and postures of the hand parts of the master side and the slave side is done by the master side and the slave side. A master based on matching the position of each corresponding joint with
How to start the slave manipulator. 3. The manipulator according to claim 1, wherein the master and the slave are variants, and the positions and postures of the hand parts on the master side and the slave side are the joints on the master side and the slave side. A method for starting a master / slave manipulator, which is characterized in that it is calculated from the respective positions.