JPH07227782A - Manupilator controller - Google Patents

Abstract

PURPOSE:To make controlling possible by providing cooperative work between the fine motion control function of a hand and the movable range of an arm while the control parts of the hand and the arm being separated from each other by providing a communication device for sending and receiving data between an arm part controller and a hand part controller. CONSTITUTION:In an arm part controller 1, an arm motion control part 11 drives an arm part A and sends information on its tip position and tip posture (arm tip part position posture information) to a hand part controller 2 via a communication device 3. In this hand part controller 2, it is converted into the motion command of a hand coordinate system by a coordinate conversion calculating part 21 based on the arm tip part position posture sent from the arm part controller 1, sent to a hand motion control part 22 and thus a hand part H can be controlled according to a command from an operator. In this way, cooperative work between the arm part A and the hand part H can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator control device having an arm and a hand attached to the end of the arm.

[0002]

2. Description of the Related Art As an end effector of a manipulator, there is an end effector having a function of gripping an object by mounting a gripper. When controlling the working contact force, it is operated by the actuator of the arm part of the manipulator. But,
The actuator of the arm part moves the end effector via an arm link with a large mass, so it is not suitable for delicate force control.Because the arm link has a certain length, the posture of the end effector part must be adjusted. If you try to change it, you may have to move the arm link significantly. On the other hand, a hand that is equipped as an end effector,
There is a technique of controlling the position / orientation and the contact force of a grasped object by using only a hand part as an articulated hand. Unlike the gripper type hand, the multi-fingered / multi-jointed hand can carry an object, and the driving force of the actuator can be transmitted to the fingertip without going through a large mass like an arm, so delicate force control is possible. Excellent in.

[0003]

However, since the hand part is generally small and the movable range is extremely narrow, it is impossible to control all the movements of the object by the hand part alone, and the arm does not move together. Don't At this time, since the entire manipulator including the hand is collectively controlled, the degree of freedom in handling is extremely large and the control method itself is complicated. Therefore, it is an object of the present invention to provide a delicate motion control function of the hand and a function of controlling the width of the movable range of the arm in cooperation with each other while the control unit of the hand and the arm are divided.

[0004]

According to the present invention, there is provided a control device for a manipulator having an arm and a hand attached to the end of the arm, an arm portion control device for driving the arm, and a hand portion for driving the hand. Based on a control device and an operator's manual operation command or a command stored in advance, a motion command creating device for sending an arm motion command to the arm control device and a hand motion command to the hand control device. And a communication device that transmits and receives data between the arm control device and the hand control device, and the communication device transmits arm tip position information from the arm control device to the hand control device. An arm movement correction command is sent from the hand control device to the arm control device.

[0005]

The hand control device can use the position / orientation information sent from the arm control device to control the motion not at the hand coordinates but at the work coordinates. Can be ordered. Further, when the movable range limit is detected, the hand control device transmits a motion command or information that causes motion of the arm to the arm control device to autonomously move the arm so that the motion command of the hand itself is within the movable range. Work to fit.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on the embodiments shown in the drawings. FIG. 1 is a block diagram of an apparatus embodying the present invention. Reference numeral 100 is a robot controller of the present invention, and 200 is a controlled robot. The robot controller 100 is
An arm control device 1 that controls the arm A of the robot 200, a hand control device 2 that controls the hand H of the robot 200, an arm control device 1 and a hand control device 2.
A communication device 3 for transmitting and receiving data between them, and a motion command creating device 4 for sending a motion command in a necessary work coordinate system to both the arm control device 1 and the hand control device 2 based on a manual operation command from an operator. It consists of The arm control device 1 and the hand control device 2 are independent.

The robot 200 has an arbitrary range of 3 within the movable range.
In the dimensional space, it comprises a multi-joint type arm section A having 6 or more axes capable of arbitrarily setting its tip position and tip posture, and a multi-fingered hand section H attached to the tip section.

Next, the operation of this embodiment will be described. The operation command creating device 4 is based on a manual operation command from the operator.
The arm unit controller 1 sends a motion command for the arm unit, and the hand unit controller 2 sends a motion command for the hand unit. Both of these commands are commands in the working coordinate system and are compatible with each other. Therefore, as will be described later, the commands are used to supplement the restriction of the motion of the hand part with the motion of the arm part. Although a specific configuration of the operation command creating device 4 is omitted, for example, it is a master device that operates a master arm or a teach box that operates a switch key, and an arm portion and a hand portion can be independently operated by an operator's manual operation. It was done like this.

In the arm control device 1, the arm motion control part 11 drives the arm part A, and the hand part control device 2 is informed to the hand part control device 2 via the communication device 3 about the tip position and the tip attitude (arm tip position and attitude). Information). In the hand part control device 2, the arm tip part position / orientation information transmitted from the arm part control device 1 and the motion command creation device 4 are used.
Based on the motion command issued to the hand unit by the coordinate conversion calculation unit 21 and converted to a motion command in the hand coordinate system and then sent to the hand motion control unit 22, the hand unit H is operated as instructed by the operator. Control.

When the movable limit vicinity detection unit 23 detects that one of the fingers of the hand unit H approaches the vicinity of the movable range limit, the motion command sent from the motion command generation unit 4 to the hand unit control unit 2 is sent. It is transmitted to the arm controller 1 via the communication device 3 and is superimposed on the motion command to the arm issued by the motion command generator 4. However, if it is assumed that there is no motion command to the arm unit issued by the motion command generating device 4 at this time (the hand unit is operated with the arm unit fixed), the arm motion control unit 11 sets the arm as the target of the hand unit. It works to compensate for the undelivered position (Fig. 1
Then, in order to show the situation at this time, the motion command to the arm part issued by the motion command creating device 4 is indicated by a dotted line), and as a result, it is transmitted to the hand part control device 2 as arm tip position / posture information. Therefore, the hand side is appropriately controlled according to the operation of the arm.

Further, by the operator sending the same motion command to both the hand controller and the arm controller at the same time, it is possible to command an operation in which only the arm moves without moving the hand.

In the above description, the operation command generating device 4 is based on the manual operation of the operator, but it may be based on the operation command stored in advance. In this case, if the reproduction is performed by normal position control, the present invention does not function, but the actual operation locus may deviate from the preliminarily stored locus (position) due to external force (force control (compliance control, impedance control). ), It will work effectively.

[0013]

As described above, according to the present invention, when the operating range of the hand approaches the limit, a command signal is transmitted from the hand control device to the arm control device to move the arm. It is possible to obtain a coordinated operation of the arm and the hand that automatically supports a narrow movable range on the arm side. When the operation command is limited to within the movable range of the hand, the arm does not move, and the operation is executed by fine control on the hand side. Moreover, since the coordinated operation of the arm and the hand is performed by automatic communication between the control devices divided into the arm side and the hand side, the operator does not need to be particularly aware, and since the control device is divided, the device itself is divided. Does not become complicated.

[Brief description of drawings]

FIG. 1 is a device configuration diagram according to an embodiment of the present invention.

[Explanation of symbols]

 1 Arm Control Device 2 Hand Control Device 3 Communication Device 4 Operation Command Device 11 Arm Motion Control Unit 21 Coordinate Conversion Calculation Unit 22 Hand Motion Control Unit 23 Hand Hand Range Limit Near Detection Unit 100 Robot Control Device 200 Robot A Arm Unit H Hand part

Claims (2)

[Claims] 1. A control device for a manipulator having an arm and a hand attached to the tip of the arm, wherein an arm control device for driving the arm, a hand control device for driving the hand, and a manual operation of an operator. An operation command creating device for sending an arm motion command to the arm control device and a hand motion command to the hand control device based on a command or a command stored in advance; and the arm control device. And a communication device for transmitting and receiving data between the hand part control devices, wherein the communication device transmits arm tip position information and posture information from the arm part control device to the hand part control device, and the hand part control device from the hand part control device. A control device for a manipulator, characterized in that an arm movement correction command is sent to the arm control device. 2. The hand control device includes a hand movable range limit proximity detecting means, and when detecting that the hand motion is near the movable range limit, the target motion of the hand is supplemented by the motion of the arm. The manipulator control device according to claim 1, which issues an arm motion correction command.