JPH0810520Y2 - Master / slave type servomanipulator index controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a control device in a master / slave type servo manipulator that can arbitrarily set a deviation in position or angle between a master arm and a slave arm.

B. Overview of the device The control device according to the present invention is called an index controller, and when the operator turns on the switch, it enters the index control mode, in which the slave arm is hold-controlled to move only the master arm while holding the present state. During that time, the deviation from the slave arm caused by the movement of the master arm is stored as an index value. When the switch is returned to its original position, the master free control mode is set, and the index value is added to the current value of the master arm as the target value of the slave arm, and the slave arm follows the master arm while maintaining the deviation.

C. Conventional Technology Conventionally, the control device of the master / slave type servo manipulator always matches the position and angle of the slave arm with that of the master arm.

D. Problems to be solved by the device Therefore, when the operation object on the slave arm side is considerably away from the normal operation range, the operator must move to the normal master side in order to move the slave arm to that position. It is necessary to operate the master arm far beyond the operating range.

However, in such a case, the posture of the operator is inevitably different from the normal posture, which may make stable master operation difficult. For example, when the operator's arm is stretched out, he / she is in the middle waist, or he / she leans and operates in an unstable posture, or because he / she is away from the operator's seat, it becomes difficult for the operator to see the operation target.

Therefore, regardless of the position of the operation object on the slave arm side, there is a demand for the operator to perform the operation in the substantially central portion of the normal master side operation range, if possible.

An object of the present invention is to provide a control device that meets such a demand.

E. Means for Solving Problems The present invention relates to a controller for a master / slave type servo manipulator, in which a switch for switching a control mode and a master arm and a slave arm are turned on and off by turning on the switch. Control means for releasing the connection with the slave arm and holding the slave arm in the present state, storage means for storing the deviation between the slave arm and the master arm as an index value while the switch is on, and the master arm by turning off the switch. And a slave arm, and a control means for connecting the present value of the master arm and the stored index value as a target value of the slave arm.

F. Action If the position and angle deviation can be set arbitrarily between the master arm and slave arm, the operator can set the master arm in the center of the normal master side operation range regardless of the position of the operation object on the slave arm side. It can be operated.

In the index control device according to the present invention, when the operator turns on the switch, the master arm can move independently of the slave arm, and the slave arm is held in the present state. If the master arm is operated during that time, a deviation occurs between the master arm and the slave arm, and this deviation is stored as an index value. Next, when the switch is returned to its original position, the slave arm is controlled with the target value obtained by adding the index value to the current value of the master arm, and the slave arm follows the master arm while maintaining the deviation.

Therefore, the deviation can be arbitrarily set by the on / off operation of the switch and the operation of the master arm. By appropriately repeating this, the operator can always operate in the substantially central portion of the master side operation range.

Particularly in the present invention, when the slave arm is moved following the master arm, it is not necessary to turn on the switch, and the operator may leave the switch off without being aware of it. Then, the switch is turned on only when it is desired to move only the master arm to an appropriate position, for example, when the master arm is in a position where operability is bad for the operator. That is, the operability of the switch is extremely good.

Further, regardless of the position of the master arm, a deviation from the slave arm can be set only by turning on / off one switch, and the slave arm can follow the master arm while maintaining this deviation. . That is, no restrictions are imposed on the operability of the master arm.

G. Example Hereinafter, the present invention will be described with reference to the drawings.

FIG. 1 is a control flowchart, FIG. 2 is an initialization flowchart, FIG. 3 is a device configuration diagram during index control, FIG. 4 is a device configuration diagram during master-free control, and FIGS. It is explanatory drawing of each index value.

In FIGS. 3 and 4, reference numeral 1 denotes a master-side control arithmetic unit, which obtains torque from the torque, position, and speed information of the master arm input via the engineering converter 2 and sends it via the engineering converter 3. And apply torque to the master arm. Reference numeral 4 denotes a slave-side control arithmetic unit, which stores torque and speed information of the slave arm input via the engineering converter 5, and position information of the master arm input from the master-side control arithmetic unit 1 and the engineering converter 5. The torque is obtained based on the deviation from the position information of the slave arm input via the engine arm, and the torque is given to the master arm via the engineering converter 6 so as to follow the slave arm. Up to this point, the process is the same as the conventional one.

In the index control device according to the present invention, there is a push button type switch 7 (hereinafter referred to as an index control switch) for switching the control mode, and its contact signal is sent to both the master side and slave side control arithmetic units 1 and 4. I'm giving.
The index control switch 7 is provided near the grip of the master arm so that the operator can easily operate it.

Further, the slave side control arithmetic unit 4 is provided with a memory 8 for storing a hold value. In the present invention, while the index control switch 7 is on, both the master side and slave side control arithmetic units 1 and 4 as shown in FIG.
The connection between them is eliminated. Further, the input of the torque information of the slave arm is stopped while the switch is on, and the position information of the slave arm is taken into the memory 8 only when it changes from off to on.
The inside position information is replaced with the target value.

On the other hand, a memory 9 is also provided in the master-side control arithmetic unit 1,
The index value is stored. In the present invention, only when the index control switch 7 changes from on to off, the deviation between the position of the slave arm and the position of the master arm is taken into the memory 9 as an index value as shown by the broken line in FIG. is there. When the index control switch 7 is turned off, the index value (positional deviation information) in the memory 9 is added to the current position information of the master arm, and the added value is used as the target value of the position of the slave arm, and the slave side control arithmetic unit. It is given to 4.

Although the control arithmetic units 1 and 4 are divided into the master side and the slave side in the above description, they can be collectively controlled by a computer or the like.

Next, the operation of the index control device shown in FIGS. 3 and 4 will be described with reference to FIGS. 1, 2, 5, and 6.

First, when the device is reset, the index value in the memory 9 becomes zero. If the index control switch 7 is kept off in this state, the two control arithmetic units 1,
4 is shown by the solid line in FIG. In this case, since the index value is zero, as shown in FIGS. 5 (a) and 5 (b), the slave arm is set to the axis angle a of the master arm 10.
The axis angle a of 11 is controlled to be always equal. This is the same as the conventional control.

Next, when the index control switch 7 is pushed to turn it on, the two control arithmetic units 1 and 4 become those shown in FIG. That is, the master arm 10 is in a free control mode that is completely unrelated to the slave arm 11, and the operator can move the master arm 10 to any position. On the other hand, the slave arm 11 performs position hold control according to the position information stored in the memory 8 when the switch is turned on, and holds the state immediately before the switch was turned on.

Now, while the switch is on, the slave arm 11 is held at the same position as in FIG. 5 (b) as shown in FIG. 6 (b), and the master arm 10 is shown in FIG. 5 (a) as shown in FIG. 6 (a). It is assumed that it has moved from the position of (a). During this time, the deviation “a” between the position of the slave arm 11 and the position of the master arm 10 is stored in the memory 9.

Next, when the index control switch 7 is released and returned to the original state, the slave arm 11 maintains the deviation of the index value "a" stored in the memory 9 and the master arm 10
Follow. That is, the operator can continue to move the master arm 10, but the control position (target position) of the slave arm 11 at this time is the current position of the master arm 10 plus the index value “a” in the memory 9. Therefore, the slave arm 11 follows the master arm 10 while maintaining the deviation "a".

As is clear from the above, the operator can operate the index control switch 7 on / off and the master arm 10 at almost the center of the master operation range regardless of the position of the slave operation target. like,
An arbitrary deviation can be set between the master arm 10 and the slave arm 11.

H. Effect of the Invention According to the present invention, regardless of the position of the slave arm,
Further, regardless of the position of the master arm, the master arm can be moved to a position where it can be easily operated. Furthermore, the operator only has to operate one switch, and this switch needs to be turned on only when it is desired to move only the master arm to an appropriate position regardless of the slave arm. You can leave it off without being aware of the switch. As a result, the operability of the operator is extremely improved. In addition, the slave arm can be easily moved to a position that was difficult to operate in the past.

[Brief description of drawings]

FIG. 1 is a flow chart of control of the embodiment apparatus, FIG. 2 is a flow chart of initialization, FIG. 3 is a device configuration diagram during index control, FIG. 4 is a device configuration diagram during master / free control, and FIG. (a), (b) and FIG. 6 (a), (b) are explanatory views of the index value, respectively. In the drawing, 1 is a master-side control arithmetic unit, 2, 3, 5, 6 are engineering converters, 4 is a slave-side control arithmetic unit, 7 is a switch, 8
Is a hold value memory, 9 is an index value memory,
10 is a master arm and 11 is a slave arm.

Claims (1)

[Scope of utility model registration request] 1. A controller for a master / slave type servo manipulator, comprising: a switch for switching a control mode; and by turning on or off the switch, the master arm and the slave arm are uncoupled from each other and the slave Control means for holding the arm in the present state; storage means for storing the deviation between the slave arm and the master arm as an index value while the switch is on; and connection of the master arm and the slave arm with the switch off. An index control device for a master / slave type servo manipulator, comprising: a control means for setting a sum of a current value of a master arm and a stored index value as a target value of a slave arm.