JPH06781A - Master/slave manipulator - Google Patents

Abstract

PURPOSE:To improve the operability of a remote manipulation by calculating the optimum orbits for the given work according to the characteristics stored in advance in virtual dynamic model arithmetic sections, and applying them to servo systems. CONSTITUTION:The force applied to one master arm 1 from an operator as an internal force command is detected by an inner force sense detector 13, and it is inputted to virtual dynamic model arithmetic sections 4, 8. When an object is gripped by slave arms 6, 10, the internal force to grip the object is detected by inner force sense detectors 7, 11 of the slave arms 6, 10 as the reaction force of the internal force and inputted to the virtual dynamic model arithmetic sections 4, 8. The virtual dynamic model arithmetic sections 4, 8 store the characteristics for the inner force sense quantities of both arms 1 (6, 10) in advance and calculate the optimum orbits for the given work in response to the dynamic quantity as the input according to the characteristics and apply them to servo systems 5, 9, 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator used for remote control using a plurality of slave arms in various industrial fields, and more particularly to a master manipulator and an object to be grasped when grasping an object by a plurality of slave manipulators. The present invention relates to a master-slave manipulator having a force-sensing transmission function for a force that grasps a force, that is, a coordinated internal force control.

[0002]

2. Description of the Related Art In remote manipulation, a master arm or an operating lever having a joystick for motion control of an object grasped by a human being and a grasping grip arranged adjacent to the joystick for controlling the object grasping force ( (Hereinafter referred to as the master arm), and the slave arm operates according to the operation to perform the work.
Conventionally, in a master-slave system that grasps an object with multiple slave arms, the movement and rotation of the object is given as a command from the master arm, and the trajectory of each slave arm and the output torque of each axis are calculated based on the command To be realized. Also, the operation of grasping the object has been performed by temporarily exiting the master-slave operation by switching the mode. The applicant of the present invention is Japanese Patent Laid-Open No.
No. 287387, a master-slave manipulator system using a plurality of slave arms realizes the internal force of the target object by presetting the internal force to be held by the target object and the movement of the slave arm based on the input from the master arm. I proposed the technology first.

[0003]

However, there is a problem that the force for grasping the object, that is, the internal force can be maintained at a preset value, but the change is not easy. That is,
In the above conventional technique, the internal force has a predetermined constant value, and the internal force cannot be operated by the master arm. However, the object grasped by remote manipulation is not always the same every time.In reality, it may be heavy or light, hard or soft and brittle, and these various objects may When grasping with a slave arm, it is necessary to change the internal force command value by key input etc. every time, so that a skilled operator is required to realize a delicate operation.

An object of the present invention is to control an internal force by a master arm, and when an object grasped by remote manipulation is actually heavy or light, hard or soft and brittle. Even when these various objects are grasped by a plurality of slave arms, the internal force for the operator can be controlled so that a subtle movement is realized without changing the internal force command value each time by key input etc. It is to provide a master-slave manipulator having a force transmission function.

[0005]

According to the present invention, a means for detecting respective trajectories (position, velocity, acceleration) of a plurality of slave arms and one master arm, and one object with the plurality of slave arms. To detect the reaction force of the internal force applied to each slave arm, and a master arm force sense that detects the force applied as an internal force command value from the operator to the one master arm. Device or force sense estimator, and each of the master arm and slave arm force sense detector or the force detected by the force sense estimator as an input, and a plurality of slave arms corresponding to the inputs and the one master arm, respectively. Virtual dynamics model operation that calculates according to a predetermined virtual dynamics model that outputs the target trajectory (target position / velocity / acceleration) of Parts and said plurality of said slave arm one master arms each trajectory (position, velocity and
A servo system for controlling the plurality of slave arms and the one master arm based on the output from the means for detecting (acceleration), and a force for internal force between the plurality of slave arms and the one master arm. The above-mentioned problems of the present invention have been solved by providing a master-slave manipulator having a sense transmission function.

(Operation) In the above invention, at least 2
When grasping one target object with more than one slave arm, the internal force grasping the target object is detected as a reaction force of the internal force by the force detector of each slave arm and is input to the virtual dynamic model calculation unit. . Further, the force applied as an internal force command from the operator to one master arm is also detected by the force sense detector or the force sense estimator and is input to the virtual dynamic model calculation unit. In this virtual mechanical model, the characteristics of the slave arm and the master arm with respect to the force sense (data of virtual mass, virtual viscosity, and virtual spring constant are stored in a database) are stored in advance, and as an input according to the characteristics. The most suitable trajectory (position, velocity, acceleration) for a given work is calculated according to the force sense and given to the servo system.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the attached FIGS. FIG. 1 is a block diagram showing the configuration of a master-slave manipulator according to an embodiment of the present invention.
It is shown as a master-slave system in which the object 15 is grasped by the slave arms 6 and 10 of the book. FIG. 2 is a schematic perspective view showing one master arm used in the master-slave manipulator according to one embodiment of the present invention. The joysticks 41, 42 for motion control of the grasped object and the object arranged adjacent to the joystick 41 are shown. A grasping grip (master for internal force control) 16 for grasping force control. 17 is an actuator for the internal force control axis with a master arm grip force sensor, 4
Reference numeral 2 is a joystick for translational motion control of the grasped object, 18 to 20 are actuators for translational motion control of the object with a master arm force detector, respectively, 18 is an x-axis translation, 19 is a y-axis translation, Reference numeral 20 denotes an actuator for translational motion control of the object with z-axis translation and master arm force sensor.

Reference numeral 41 denotes a rotational movement control joystick for controlling the posture of the grasped target object, and reference numerals 21 to 23 each denote a master arm for a rotary movement control actuator for controlling the posture of the target object with a force sensor. Reference numeral 21 is an x-axis rotation, 22 is a y-axis rotation, 23 is a z-axis rotation, and a master arm force detector-equipped rotary motion control actuator is shown. FIG. 3 shows an example of a slave arm used in a master-slave manipulator according to an embodiment of the present invention. 6 is a slave arm 1, 10 is a slave arm 2, 7 is a slave arm 1 force detector, 11 is a slave arm 2 force. The sensory detectors, 15 respectively indicate grasping objects.

In FIG. 1, which is a block diagram showing the structure of the master-slave manipulator, the force applied to the master arm 1 by the operator is the master arm force sensor or force estimator 13 (masters 17 to 23 in FIG. 2). It is detected by an arm force sensor (representing an arm force sensor) and input to a force transfer system virtual dynamic model calculation unit (for internal force control) 12 and a force transfer system virtual dynamic model calculation unit (for movement of an object) 2. . fm is a force command in each direction and a rotation direction applied to the grasped object from the joystick 42 for translational motion control and the joystick 41 for rotational motion control of the grasped object,
fg is an internal force command from a grasping grip (master for internal force control) for grasping the object grasping force. The internal force, which is the grasping force with which the slave arm grasps the grasped object, is detected by the slave arm force sense detectors 7 and 11, and is input to the force transmission system virtual dynamic model calculation unit (for internal force control) 12. Further, the outputs of the slave arm force sense detectors 7 and 11 are used as an external force applied to the target object for calculating the motion of the target object grasped by the slave arm. 2 and virtual slaves 4 and 8 for each slave 6 and 10 to have independent flexibility.
Respectively input to.

In the force transmission system virtual dynamic model calculation unit (for internal force control) 12, a target trajectory (position / position for internal force control axis) for the internal force control axis is transmitted to the master arm 1 according to a predetermined virtual dynamic model from the received internal force command information. (Speed / acceleration) is output to the servo control unit 14. Further, the force-mechanism transmission system virtual dynamic model calculation unit (for internal force control) 12 includes slave arms 6 and 10.
The target trajectory (position / velocity / acceleration) for the grasping motion of is output to the motion / force / torque calculation unit 3. In the motion / force / torque calculation unit 3, from the grasping motion trajectory and the target target trajectory (position / velocity / acceleration) given from the force transfer system virtual dynamic model calculation unit (for motion of the target object) 2, Target trajectory of each slave arm 6 and 10 (position, velocity, acceleration)
Is calculated and output to each of the slave arm virtual dynamic model calculation units 4 and 8. Each of the slave arm virtual dynamic model calculation units 4 and 8 corrects the trajectory of each slave arm based on the external force information from the force sense detectors 7 and 11 and then outputs it to the servo control units 5 and 9. Further, the servo control units 5 and 9 realize the motion control of the slave arms 6 and 10 based on this input and the signals x ₁ and x ₂ from the position / speed / acceleration detectors of the slave arms 6 and 10.

Next, the internal processing of the force-mechanical transmission system virtual dynamic model calculation unit (for internal force control) 12 and the processing of its output in the motion / force / torque calculation unit 3 will be described. The haptic transmission system virtual dynamic model is given by equation (1).

[Equation 1] Mg: Virtual mass Dg: Virtual viscous resistance constant Kg: Virtual spring constant Xgr: Target position of master arm internal force control axis fg: Internal force command obtained by master arm force detector fgo: Internal force obtained by slave arm force detector Value Sgo: Scale factor of internal force transmission From the equation (1), the behavior of the target position Xgr of the master arm internal force control axis with respect to the inputs fg and fgo is as follows.

[Equation 2] FIG. 5 is a block diagram of the equation (2). Actually, most of the time it is controlled by a digital computer,
The equation (2) is discretized and configured.

Regarding the grasping operation of the slave arm, the change in the distance from the center of the object 15 at the tips of the slave arms 6 and 10 facing each other as shown in FIG. (In the case of three or more slave arms, there is also a method of setting the change rate of the distance from the center of gravity of the object as Xgor.) Therefore, the trajectory of the change Xgor of the distance from the center of the object is given by the following equation.

[Equation 3] Sgm: From the scale factor equations (2) to (5) of the movement of the slave arm with respect to the movement of the master arm, fgo and f
It can be seen that the target trajectory of the slave arm and the master arm is generated by the difference in force with g, and a force sensation transmission system for internal force is formed.

The generated target trajectory of the slave arm is sent to the motion / force / torque calculating unit 3. In the motion / force / torque calculation unit 3, the target trajectory Xor of the center of gravity of the target sent from the force transmission system virtual dynamic model calculation unit (for motion of the target) 2 is the slave for each motion of the target. The arms are disassembled into target trajectories Xd1 'and Xd2', and the target trajectories (position, velocity, acceleration) are calculated by the following (see FIG. 6).

[Equation 4] i: Slave arm number (i = 1, 2) ⁱ Robj: Coordinate conversion matrix from the object coordinate system to the base coordinate system of each slave Xor: Command position of the object viewed in the object coordinate system Poi: Each slave Vector of the origin of the object coordinate system as seen in the arm base coordinate system Xdi ': Command position of each slave arm tip as seen in the base coordinate system of each slave arm (only object motion control)

Further, the target trajectories Xgor of the slave arms relating to the internal force control are subjected to coordinate conversion processing, added, and output to the respective servo control units 5 and 9 as the target trajectories Xd1 and Xd2 of the respective slave arms.

[Equation 5] Xdi: Command position of each slave arm tip as seen in the base coordinate system of each slave arm ⁰ Z6i: z direction unit vector of each hand tip coordinate as seen in the base coordinate system of each slave arm

[0015]

As described above, according to the present invention, the internal force for grasping the object is detected as the reaction force of the internal force by the force detectors of the slave arms, and is input to the virtual dynamic model calculation unit. In this virtual mechanical model calculation, the characteristics of the slave arm and the master arm with respect to the force sense (data of virtual mass, virtual viscosity, and virtual spring constant are stored in a database) are stored in advance, and the characteristics are input as input according to the characteristics. Since the most suitable trajectory (position, velocity, acceleration) for the given work is calculated and given to the servo system according to the amount of force sense, the internal force is controlled by the force sense transmission system with multiple slave arms. , It becomes possible to remotely control the work target, which improves operability in remote manipulation. Therefore, according to the present invention, the internal force can be operated by the master arm, and when grasping various objects with a plurality of slave arms, a subtle operation is realized without changing the internal force command value each time by key input or the like. As described above, a master-slave manipulator having a force-sensing transmission function for an internal force for an operator is provided.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a master-slave manipulator according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view showing an example of one master arm used in the master-slave manipulator according to the embodiment of the present invention.

FIG. 3 is a schematic perspective view showing an example of a slave arm used in a master slave manipulator according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a target trajectory for internal force control of the slave arm in FIG.

5 is a block diagram showing a configuration example of an internal process of a force dynamics system virtual dynamic model calculation unit (for internal force control) 12 of FIG. 1. FIG.

FIG. 6 is an explanatory diagram illustrating the relationship between the base coordinate system and the object coordinate system of each slave arm, and 32 is the slave arm 1
Of the slave arm 2, 33 is the base coordinate system of the slave arm 2, and 34 is the coordinate system of the object. 1. ． Master arm 2. ． Virtual dynamic model of force transmission system (for object motion) 3. ． Motion / force / torque calculation unit 4, 8. ． Virtual dynamic model calculation unit (for slave arm) 5, 9. ． Servo control unit (for slave arm) 6. ． Slave arm 1 7, 11. ． Slave arm force sensor 10. ． Slave arm 2 12. ． Force-measuring system virtual dynamic model calculation unit (for internal force control) 13. ． Master arm force sense detector or force sense estimator 14. ． Servo control unit (for master arm) 15. ． Object to be grasped 16. ． Grip with force detector (master for internal force control) 41. ． 42. A joystick for rotational movement control that controls the posture of a grasped object 42. ． Joystick for translational motion control of grasped object

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kazuo Hariki 20 Ishigane, Toyama City, Toyama Prefecture Fujikoshi Co., Ltd.

Claims (3)

[Claims] 1. A master arm and a plurality of slave arms each having a joystick for controlling the movement of a grasped object and a grasping grip for arranging the object grasping force adjacent to the joystick. In a master-slave manipulator system that controls the slave arm according to a command from the master arm so as to grasp one grasped object with the slave arm, in the master-slave manipulator system, the trajectory of each of the master arm and the slave arm (position / speed /
Acceleration) and a force for grasping the grasped object by the grasping grip, that is, an internal force, and an internal force command and each direction for instructing a force toward each direction in which the joystick grasps the grasped object. A master arm force sense detector or force sense estimator for receiving force from an operator as a force command, and an internal force applied to the tip of the slave arm and a force in each direction received by the grasped object are detected. Slave arm force detector for detecting the position, speed and acceleration of the master arm detected by the detecting means, the internal force command and each direction force command detected by the master arm force sensor or force estimator And information on the internal force applied to the tip of the slave arm detected by the slave arm force sensor and information on the force received by the grasped object in each direction. The lobe arm has a trajectory calculation unit that calculates a target trajectory (target position / speed / acceleration) of each tip, and a servo system that controls each slave arm and the master arm by using an output from the trajectory calculation unit as a command value. A master-slave manipulator which has a force-sensing transmission function and is capable of cooperative internal force control. 2. The target trajectory (target position / speed / speed) of each slave arm tip is output from the trajectory calculator.
Acceleration), and when grasping one grasped object by the plurality of slave arms, the reaction force of the internal force applied to the slave arm detected by the slave arm force sensor and each direction received by the grasped object Information of the force toward, and the internal force command and each direction force command detected by the master arm force sense detector or force sense estimator as an input, and each of the slave arm tips corresponding to each input Of the target trajectory (target position / velocity / acceleration) of the master arm and the target trajectory of the master arm (target position / velocity / acceleration) according to a predetermined virtual mechanical model. 2. The master slave manifold according to claim 1, further comprising: a servo system that controls the slave arm by using an output from the virtual mechanical model computing unit as a command value. Regulator. 3. The target trajectory (target position / velocity / acceleration) of an object to be grasped from the joystick of the master arm, and the target trajectory (target position) of each of the slave arm tips corresponding to these target trajectory inputs. The master-slave manipulator according to claim 1 or 2, wherein (velocity / acceleration) includes a target trajectory (target position / velocity / acceleration) of each rotation of each slave arm tip.