JPH08197467A - Motion control device and motion control method in link device, and motion control device and motion control method in artificial hand - Google Patents

Abstract

PURPOSE: To unify force control and position (or speed) control so as to realize the skillful motion of a link connected body with much simpler control rules in a link device provided with the link connected body formed by connecting plural links in the relatively movable state and a motor for imparting operating force to at least one of the links so as to generate optional contact motion with an object in the external world to the link connected body. CONSTITUTION: A first index representing the moving speed of a link connected body is detected by a first detecting means 85, and a second index representing external force applied to the link connected body is detected by a second detecting means PS. A motor M is controlled by a driving control means 81 so that a third index determined on the basis of the first and second indexes coincides with a specified target index.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a link coupling body in which a plurality of links are coupled so that they can move relative to each other, and an actuating force is applied to at least one of the links to provide an external object to the link coupling body. The present invention relates to a motion control device and a motion control method for controlling a contact motion with an external object in a link device including a motor that causes a contact motion, and an artificial hand to which the link device is applied.

[0002]

2. Description of the Related Art Position control and speed control are publicly known for controlling a combination of many links such as a robot. In addition, the concept of force control has been put into practical use as a means for optimally controlling contact with an external object mainly from the viewpoint of force. When actually realizing a dexterous robot, the position
(Or velocity) control and force control are used separately, position (or velocity) control is performed until the robot contacts the object, and after contact with the object, force control is added using information from force sensors. The movement is controlled.

[0003]

When performing force control, a virtual spring is created on a computer, and the position change is controlled by changing the force using the spring characteristic. Creating a virtual model requires more computer resources, and controlling the resulting model also requires a faster, larger computer. If force control and position (or velocity) control can be integrated by a simple theory and the robot motion can be described by a simpler control equation, the robot can be dexterously moved by an inexpensive computer. Also, if two different theories are used as in the past, it is difficult to smoothly move the robot when switching between them, but if the same theory can be used for control, a smoother robot movement can be realized. it can.

A technique for solving such a problem is
For example, as disclosed in Japanese Examined Patent Publication No. 5-66610, the control law is still complicated even in such a prior art.

A first object of the present invention is to unify force control and position (or speed) control, and to realize a dexterous motion of a link joint and an artificial hand with a simpler control law.

By the way, in the conventional force control, it is known that a sensor for detecting the current of the motor for driving the link and a contact sensor are separately provided and the current value to the motor is controlled by utilizing the sensor output. is there. However, the method relying only on the detection of the current has a drawback that the accuracy thereof becomes extremely poor in a system in which a reduction gear after the motor has a large friction resistance. On the other hand, the force sensor is superior in terms of accuracy, but the force sensor currently in practical use is expensive because it uses a strain gauge accurately attached type or a polymer material whose resistance value changes with external force. To be
At present, the use cases are extremely limited. Further, when the robot works, a long arm must be moved at a considerable speed, and it is desired that the tip mass of the arm is as light as possible in order to drive the arm efficiently and at high speed. On the other hand, providing the force sensor at the tip of a finger or the like causes an increase in mass and reduces work efficiency. Also, if the sensor is provided at the tip, it becomes necessary to arrange a path (for example, electrical wiring) for transmitting information from the sensor in a link that moves in a complicated manner, resulting in an increase in dimensional weight of the link. Become. Therefore, it is desirable that the sensor be as light as possible and that it be installed at a place where it can be housed in the arm or the body that is far away from the tip.

The present invention uses a highly accurate and inexpensive force sensor that can also be used for controlling a link joint using a speed reducer or an artificial hand, and has a great degree of freedom in its installation location. The second purpose is to do so.

In realizing the first object, if the unity means for the force control and the position (or speed) control is expensive, the second object cannot be achieved.

Therefore, a third object of the present invention is to provide an inexpensive and reliable method capable of unifying force control and position (or speed) control.

In controlling the motion of the link combination,
The following motion control may be performed after contact with an object,
In that case, it is necessary to reliably detect the contact with the object.

A fourth object of the present invention is to make it possible to reliably and easily detect the contact of the link assembly with an object.

In controlling the intelligent robot, the human side prepares a certain amount of knowledge about the world around the robot, and the robot refers to such knowledge based on a command to take an optimal action. This is one direction of intelligence. Based on this concept, it is necessary to describe the knowledge given to the robot in as much detail as possible, which affects the intelligence of the robot's behavior, but it takes a great deal of time and effort to describe the world environment in detail. And
Therefore, it seems more realistic for a human to make a simple description, acquire detailed attributes of the robot as he repeats his actions, and reinforce or revise what the human has described.

A fifth object of the present invention is to apply the above concept to the hardness of a target object which is around the robot and is grasped by the robot. As a result, a human only needs to describe the hardness. Well, the robot can detect the hardness level in more detail by touching the object and rewrite the detection result as the true hardness of the object in the environment model.

Furthermore, the hand is provided at the tip of the arm to approach the object. For positioning the tip of the arm (wrist), a teaching method is used, or at a slightly higher level, an external sensor is used. Is publicly known. However, whichever method is used, the accuracy of the wrist position (including the direction) with respect to the object always involves an error. If a mechanism that can absorb this error can be prepared on the hand side, the initial purpose can be achieved even if the wrist position accuracy is poor.

Therefore, a sixth object of the present invention is to make it possible to reliably grasp a target object by absorbing the error even if the positioning accuracy of the wrist is somewhat unsatisfactory.

Further, even in the hand having the above-mentioned characteristics, if the degree of the error is efficiently transmitted to the arm drive system side, the arm side may correct the target position in real time in some cases, so that the hand side is burdened. Can be reduced, and even if it is not real time, the parameter of the arm side system is corrected by feeding back the error this time, and the function to learn to perform more accurate positioning from the next time It is also possible to have.

A seventh object of the present invention is to detect the amount of deviation between the position of the target object and the hand when the object is gripped, and feed back the degree of this deviation to the upper control unit for teaching. To provide.

Further, when the external force applied to the object changes while the object is gripped, it is necessary to perform appropriate control on the hand side according to the external force change.

An eighth object of the present invention is to enable the hand side to be appropriately controlled according to changes in external force applied to an object.

[0020]

In order to achieve the first object, the invention according to claim 1 is a link coupling body in which a plurality of links are coupled so as to be capable of relative movement, and at least one of the links. A link device including a motor for applying an actuating force to one of them to cause the link combination to make an arbitrary contact movement with an external object; a first index for detecting a first index representing the movement speed of the link combination; The detection means, the second detection means for detecting the second index representing the external force applied to the link combination, and the third index determined based on the first and second indexes are made to match a predetermined target index. Drive control means for driving the motor as described above.

Further, in order to achieve the above-mentioned third object, the invention according to claim 2 is the same as the invention according to claim 1, in addition to the first and second inventions expressed by a unified physical unit. In order to determine the third index based on the index, a physical unit conversion means for converting one physical unit of the first index and the second physical unit to the other physical unit is provided.

In order to achieve the above-mentioned second object, the invention according to claim 3 is such that a plurality of links are connected to each other so that they can move relative to each other, and an external object is attached to the link connection. And a fluid pressure actuator connected to at least one of the links to cause contact movement of the fluid, and a fluid pressure source that supplies a working fluid having a fluid pressure corresponding to the operation of a motor to the fluid pressure actuator, First detection means for detecting a flow velocity of the working fluid supplied to the fluid pressure actuator to generate a first index, and pressure for the working fluid supplied to the fluid pressure actuator to generate a second index. A drive means for comparing the second detection means with a third target index determined based on the first and second indices and a predetermined target index, and controlling the operation amount of the motor according to the comparison result. And a controlling unit.

In order to achieve the third object, the invention according to claim 4 is the same as the invention according to claim 3,
Throttling means is provided in a fluid conduit connecting the fluid pressure source and the fluid pressure actuator, and a pressure sensor also serving as the first and second detecting means is capable of detecting the fluid flow velocity replaced with the fluid pressure and upstream of the throttling means. It is characterized in that it is arranged in the fluid line on the side.

In order to achieve a fourth object in addition to the first object, a fifth aspect of the present invention is a link combination body in which a plurality of links are movably connected to each other, and at least one of the links. A link device comprising a motor for applying an actuating force to one of them to cause the link combination to make an arbitrary contact movement with an external object, a first index representative of the movement speed of the link combination, and the link combination. And a second index representing an external force applied to the motor, and driving the motor using the detected first and second indexes, based on the increase / decrease relationship of the first and second indexes, It is characterized by detecting the start or end of contact between the link combination and an external object.

In order to achieve the fourth and fifth objects in addition to the first object, the invention according to claim 6 is a link assembly in which a plurality of links are connected so that they can move relative to each other.
A link device, comprising: a motor for applying an actuating force to at least one of the links to cause the link combination to make an arbitrary contact movement with an external object, a first index representing the movement speed of the link combination. And a second index representative of an external force applied to the link combination and an operation displacement amount of the link, respectively, and the detected first and second indexes are used to drive the motor, thereby The start of contact with the object of the link is detected from the change of the second index, and the rigidity of the object is estimated based on the second index after the contact start and the operation displacement detection value of the link. Characterize.

In order to achieve the first and sixth objects, the invention according to claim 7 includes a plurality of links movably coupled to each other and an actuator connected to at least one of the links. In an artificial hand that has at least two fingers that are arranged at positions that can oppose each other, and that detects a first index that represents the motion speed of each finger in an artificial hand that can hold or hold an object, Detection means,
Second detection of a second index representing the external force applied to each finger
It is characterized by comprising a detection means and a drive control means for setting the operation amount of the actuator so that the third index determined based on the first and second indexes matches a predetermined target value.

In order to achieve the second object in addition to the sixth object, the invention according to claim 8 is the structure of the invention according to claim 7, in which the actuator responds to the operation of the motor. A fluid pressure actuator to which a fluid pressure source that generates fluid pressure is connected, and the first detection means is a differentiation circuit that differentiates the output of an encoder that mechanically engages with the motor to generate speed information. The 2 detection means is a pressure sensor for detecting the pressure of the working fluid supplied from the fluid pressure source to the actuator.

In order to achieve the third object in addition to the sixth object, the invention according to claim 9 is the structure of the invention according to claim 7, wherein the actuator is a fluid corresponding to the operation of the motor. A fluid pressure actuator to which a fluid pressure source that generates pressure is connected, and a fluid pipe connecting the fluid pressure source and the actuator is provided with throttle means for reducing the fluid pressure.
The detection means is provided in the fluid conduit upstream of the throttle means based on the fact that the pressure loss generated when the working fluid passes through the throttle means represents the fluid flow velocity and the fluid pressure represents the external force. Is characterized by.

In order to achieve the eighth object, the invention as set forth in claim 10
The invention described above comprises at least one specific finger, which is formed by coupling a plurality of links so as to be capable of relative movement, and is arranged at a specific position; And a plurality of opposing fingers arranged at opposing positions opposed to the specific position so as to perform an action including the specific finger in cooperation with the specific finger, and at least one of links forming the specific finger and the opposing finger, respectively. In an artificial hand including an actuator, a detection unit that detects a working displacement amount representative index that represents a working displacement amount of at least one of the plurality of facing fingers, and a first facing of the facing fingers. A detection unit that detects an external force representative index that represents an external force applied to at least one second opposing finger that is different from the finger, and a detecting unit that detects a force between the specific position and the opposing position of the grasped object. When the external force in the direction is applied, the first opposing finger is operated so that the operation displacement representative index matches the set target value, and the second opposing finger is operated so that the external force representative index matches the other set target value. Therefore, a drive control means for controlling the operation of the actuator is provided.

In order to achieve the eighth object, claim 11
The invention described above comprises at least one specific finger, which is formed by coupling a plurality of links so as to be capable of relative movement, and is arranged at a specific position; And a plurality of opposing fingers arranged at opposing positions opposed to the specific position so as to perform an action including the specific finger in cooperation with the specific finger, and at least one of links forming the specific finger and the opposing finger, respectively. In an artificial hand including an actuator, a detection unit that detects an index representing an external force applied to at least one first opposing finger of a plurality of opposing fingers, and at least a first opposing finger different from each of the opposing fingers. Detecting means for detecting an index representative of the external force applied to one second opposing finger, and the first and the first indexes so that both indexes match their respective set target values. When the external force in the direction along the specific position and the opposing position is applied to the grasped object by controlling the operation of the actuator to operate the opposing finger, the increase in the external force is detected or previously detected, and when the external force increases, the Drive control means for increasing at least one of both set target values.

In order to achieve the eighth object, the invention according to claim 12
The invention described above comprises at least one specific finger, which is formed by coupling a plurality of links so as to be capable of relative movement, and is arranged at a specific position; At least one facing finger arranged at a facing position facing the specific position to cooperate with the specific finger and at least one of links forming the specific finger and the facing finger, respectively. In an artificial hand comprising: a detection unit that detects an index representing an external force applied to at least one of the specific finger and the counter finger, and actuates the at least one finger so that the index matches a set target value. The operation of the actuator is controlled so that the gripped object receives an external force in the direction between the specific position and the facing position. Drive control means capable of detecting the decrease in the gripping force of one of the fingers in the state or detecting it in advance and controlling the operation of the actuator so as to fix the position of the finger on the side where the gripping force decreases. It is characterized by being provided.

In order to achieve the eighth object, the invention according to claim 13
The invention described above comprises at least one specific finger, which is formed by coupling a plurality of links so as to be capable of relative movement, and is arranged at a specific position; At least one facing finger arranged at a facing position facing the specific position to cooperate with the specific finger and at least one of links forming the specific finger and the facing finger, respectively. In an artificial hand comprising: a detection unit that detects an index representing an external force applied to at least one of the specific finger and the counter finger, and actuates the at least one finger so that the index matches a set target value. The operation of the actuator is controlled so that the gripped object receives an external force in the direction between the specific position and the facing position. Characterized in that it comprises a drive control means for reducing the set target value according to the decrease of the index when detecting or pre perceive a reduction in the gripping force of one finger in the state.

In order to achieve the fourth object, claim 14
The invention described above includes at least two fingers, each of which is formed by coupling a plurality of links so that they can move relative to each other, and is arranged at a position where they can face each other, and at least one of the links forming the fingers is fluidized. An artificial hand capable of gripping or holding an object by driving with pressure is characterized by detecting a change in pressure of a driving fluid and recognizing that the finger has started contact with the object.

In order to achieve the fourth and sixth objects,
The invention as set forth in claim 15 is provided with at least two fingers which are formed by coupling a plurality of links so as to be capable of relative movement and are arranged at positions capable of facing each other, and at least one of the links constituting the fingers. In an artificial hand that can hold or hold an object by driving two
The first index that represents the speed of movement of the finger and the second index that represents the external force applied to the finger are detected, the link is driven using the first and second indexes, and the finger is used to move the object. When gripping or holding, the first index is detected to be substantially 0, and the end of the gripping or holding operation is detected.

In order to achieve the sixth and seventh objects,
According to a sixteenth aspect of the present invention, a plurality of links are coupled to each other so that they can move relative to each other, and at least two fingers arranged at positions capable of facing each other are provided, and at least one of the links forming the fingers is provided. In an artificial hand that can hold or hold an object by driving two
The first index that represents the speed of movement of the finger and the second index that represents the external force applied to the finger are detected, the link is driven using the first and second indexes, and the finger is used to move the object. When gripping or holding, the start of contact between each finger and the object is detected from the change in the first or second index, and when there is a difference in the time when each finger starts contact with the object, the difference The relative position deviation between the artificial hand and the object is estimated based on

In order to achieve the fifth and sixth objects,
According to a seventeenth aspect of the present invention, a plurality of links are coupled to each other so that they can move relative to each other, and at least two fingers arranged at positions that can oppose each other are provided, and at least one of the links forming the fingers is provided. In an artificial hand that can hold or hold an object by driving two
A first index that represents the speed of movement of the finger, a second index that represents the external force applied to the finger, and an index that represents the position of the finger are detected, and the first and second indices are used. While driving the link, when at least one of the fingers contacts the object, the presence or absence of contact between each finger and the object is detected based on the change in the first or second index, and after the contact is started, The rigidity value of the object is estimated based on the second index and the index representing the position of the finger, and the target index is changed based on the rigidity value.

[0037]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which a link device is applied to a robot artificial hand will be described below with reference to the drawings.
In describing the structure of this artificial hand that imitates a human hand, the names of each part are defined as follows. (1) The thumb is named as the first finger, and the fifth finger up to the little finger is referred to in order. (2) The name of the link corresponding to the bone also conforms to the anatomy,
The link part of which is stored in the back of the hand is called the middle hand link,
The thumb one is the first middle link. Therefore, the one with the little finger is called the fifth middle-hand link. (3) The links that are linked to the middle link are the first
Base link, 2nd base link ... Called as 5th base link. (4) Links linked to each base link are called a second middle link, a third middle link ... A fifth middle link, respectively. However, there is no middle link for the first finger. (5) The most advanced links are called the first end clause link, the second end clause link, ... The fifth end clause link, respectively. (6) The degree of freedom means a joint whose movements can be controlled completely independently, and in this specification, a plurality of actuators driven using a common fluid pressure have a degree of freedom of “1”. Suppose That is, the number of actuators does not mean the degree of freedom.

FIGS. 1 to 9 show a first embodiment of the present invention. FIG. 1 is an external view of a robot most suitable for application of the present invention, and FIG. 2 shows the mechanism of the robot's hand (right hand) on the back of the hand. 4 is a plan view seen from the side, FIG. 3 is a hand drive circuit diagram, FIG.
Is a control block diagram of the entire robot, FIG. 5 is a control block diagram of the hand, FIG. 6 is a diagram showing a part of the control algorithm,
7 is a diagram showing the rest of the control algorithm, FIG. 8 is a diagram showing changes in reaction force according to the hardness of the object when the hand grasps the object, and FIG. 9 is an explanation when the hand tries to grasp the object. It is a figure.

First, in FIG. 1, the two-leg drive mechanism in this two-leg two-arm work robot moves the left and right legs alternately by appropriately driving a plurality of joints a (i) with a motor or the like. Then, it is configured to move on an arbitrarily shaped terrain. Regarding the details of the configuration, the applicant's application has already been disclosed (Japanese Patent Application Laid-Open No. 3-184782) and does not form a main component of the present invention, and therefore, no further description will be given here. .

The two-arm portion is constructed so that the right and left wrists can be moved to positions and directions suitable for a given work by appropriately driving a plurality of joints b (i) with a motor or the like. Since such arm control is already publicly known and used by industrial robots and the like, further explanation is considered unnecessary.

At the tip of the wrist, a pair of artificial hands H, H, which are the link combination of the present invention, are provided. However, for simplification of description, only one side (right side) artificial hand H will be described below. To do.

In FIG. 2, this artificial hand H is
The first to fifth fingers F, which are the combined body ₁~ F_FiveOn the base 8
The first finger F is connected to the base 8.
₁The first middle-hand link 11 of is rotatable about an axis 15.
And the second finger F₂The second middle link 21 of is around the axis 25
It can be rotated to the 5th finger F_FiveThe fifth middle link 51 of
The shafts 55 are pivotally connected to each other. Further
To the third finger F₃Third middle-hand link 31 and fourth finger F of_Fourof
The fourth middle link 41 is provided integrally with the base 8.

The first finger F ₁ is rotatably connected to a first middle-hand link 11 which is rotatable about a shaft 15 and a tip portion of the first middle-hand link 11 via a shaft 16. It is composed of a one-base-joint link 12 and a first end-joint link 14 rotatably connected to a tip portion of the first-base-joint link 12 via a shaft 18.
These links 11, 12, and 14 are connected to respective shafts 15,
Cylinder type fluid pressure actuators A ₁₀ , A ₁₁ and A ₁₃ are provided for rotating around 16, 18 and the fluid pressure actuator A ₁₀ includes a base portion 8 and a first portion.
The fluid pressure actuator A ₁₁ is the first between the middle hand links 11.
The fluid pressure actuator A ₁₃ is arranged between the middle link 11 and the first base link 12, and between the first base link 12 and the first end link 14. When the fluid pressure actuator A ₁₀ is extended, the first middle link 1
1 rotates about the shaft 15, and the first finger F ₁ is bent to the back side of the paper surface, that is, the palm side in FIG. When the fluid pressure actuator A ₁₁ is extended, the first base link 12 rotates clockwise about the shaft 16 in FIG. 2 with respect to the first metacarpal link 11. When the fluid pressure actuator A ₁₃ is further extended, the first end link 14 is moved to the first base link 1.
Rotate clockwise about axis 18 in FIG. 2 with respect to 2. In order to return the rotated links 11, 12, and 14 to their original states, the fluid pressure acting on the fluid pressure actuators A ₁₀ , A ₁₁ , and A ₁₃ may be released. The hand link 11 is returned by the mechanical restoring force of the spring 19, and the first base node and the end node links 12, 14 are returned by the mechanical restoring force of the spring (not shown).

The second finger F ₂ has a second middle link 21 connected to the base 8 and a shaft 26 at the tip of the second middle link 21.
A second base link 22 rotatably connected via
A second middle link link 23, which is rotatably connected to the tip of the second base link link 22 via a shaft 27, and a second middle link link 2.
2 rotatably connected to the tip of 3 via a shaft 28
The second middle link 21 is composed of the end link 24, and the detailed description thereof is omitted. However, the second middle link 21 is allowed to rotate around the shaft 25 in the direction of approaching and separating from the third finger F ₃ , and the base portion. Mechanically coupled to 8. Cylinder type fluid pressure actuators A ₂₁ , A ₂₂ and A ₂₃ are provided to drive the second base, middle and end links 22, 23 and 24 about the respective shafts 26, 27 and 28. Accordingly, these fluid pressure actuators A2 ₂₁ , A ₂₂ , and A ₂₃ are expanded and actuated in response to the action of fluid pressure, whereby the second finger F ₂
Is bent to the palm side. Thus To return the second finger F ₂ to the original position may be released to the fluid pressure of each hydraulic actuator _{A 21, A 22, A 23} , as in the first finger F _1, shown The second finger F ₂ returns to its original position by the mechanical restoring force of the spring.

Third finger F₃, 4th finger F_FourAnd the fifth finger F_Five
The configuration of is almost the second finger F₂Is the same as. Ie the third finger
F₃Is a third middle-hand link 31, which is integrated with the base 8,
3 base link 32, 3rd middle link 33 and 3rd end link
Has a link 34 and has a third base, middle and end link 3
2, 33, 34 around axes 36, 37, 38 respectively
Cylinder type fluid pressure actuation
Player A₃₁, A₃₂, A₃₃Is provided. Also the fourth finger F
_FourIs a fourth middle link 41, which is integrated with the base 8,
The base link 42, the fourth middle link 43, and the fourth end link
Link 44, fourth base, middle and end link 4
2, 43, 44 around axes 46, 47, 48 respectively
Cylinder type fluid pressure actuation
Player A ₄₁, A₄₂, A₄₃Is provided. And the fifth finger
F_FiveIs the second finger F₂In the same manner as the base 8 through the shaft 55.
5th middle link 51 mechanically coupled to the
Link 52, fifth middle link 53, and fifth end link 5
4 and has fifth base, middle and end links 52,5
Rotate 3,54 about axes 56,57,58 respectively
Cylinder type hydraulic actuator to drive
Type A₅₁, A₅₂, A₅₃Is provided.

When grasping an object, the second to fifth fingers F ₂ to F _{2 are applied} to the first finger F ₁ located at a specific position.
₅ can be arranged at a facing position facing a specific position.

By the way, each fluid pressure actuator A_Ten,
A₁₁, A₁₃, A_{twenty one}~ A_{twenty three}, A₃₁~ A ₃₃, A₄₁~ A₄₃, A
₅₁~ A₅₃The supply pipe that supplies the working fluid to the
F₁~ F_FiveThe amount of joint freedom is collected from the
Reach the forearm via the knot. Actually the last link 1
4, 24, 34, 44, 54 and middle link 23, 3
3,43,53 rarely move individually, and practical
The same pressure source supplies the same pressure working fluid,
In many cases, objects are held with even force. For example, JP-A-5
This idea is also disclosed in Japanese Patent Laid-Open No. 4-157967.
It Therefore, it is practically less than the number of actuators.
No supply pipe will go through the wrist joint.

[0048] In FIG. 3, the hydraulic actuator A ₁₀ which is provided between the first first metacarpal link 11 and the base 8 of the finger F _1, first fluid pressure source S1 is connected, a first finger F ₁
In the second embodiment, the fluid pressure actuators A ₁₁ and A ₁₃ provided between the first middle joint and the base joint links 11 and 12 and between the first base joint and the end joint links 12 and 14 respectively have the second joint.
Fluid pressure source S2 is connected, to the hydraulic actuator A ₂₁ which is provided between the second second metacarpal and Motobushi links 21, 22 of the finger F ₂ is connected to the third fluid pressure source S3, the second A fourth fluid pressure source S4 is provided to the fluid pressure actuators A ₂₂ and A ₂₃ provided between the second base link and the middle link links 22 and 23 and between the second middle link and the last link links 23 and 24 of the finger F ₂ , respectively. Is connected to each of the fluid pressure actuators A ₃₁ , A ₃₂ and A ₃₃ of the third finger F ₃ , and the fifth fluid pressure source S 5 is connected to each of the fluid pressure actuators of the fourth and fifth fingers F ₄ and F _5. The sixth fluid pressure source S is provided for A _{41 to} A ₄₃ and A _{51 to} A _53.
6 is connected.

The first to sixth fluid pressure sources S1 to S6 have basically the same configuration, and the configuration of the second fluid pressure source S2 will be described as a representative. Thus, the second fluid pressure source S2
Includes a motor M and a master cylinder 60 that outputs a fluid pressure according to the operation of the motor M. The rotation output of the motor M is transmitted to a nut 62 via a gear mechanism 61, and the nut 62 is transferred to the nut 62. The screw shaft 63 is screwed.
Thus, the screw shaft 63 is provided with a rectangular locking portion 64 that extends along the axial direction of the screw shaft 63 and is accurately meshed with a guide groove (not shown) located at a fixed position. Rotation around the axis of the shaft 63 is prevented, but movement along the axis is allowed. Therefore, according to the rotation of the nut 62, the screw shaft 63 is driven to the left and right along the axis thereof, and when the screw shaft 63 is pushed out to the left side in FIG. 3 according to the rotation of the nut 62, the screw shaft 63 slides on the master cylinder 60. The movably fitted plunger 65 pressurizes the pressure chamber 66 in the master cylinder 60, and fluid pressure is output from the master cylinder 60.

An encoder 87 for accurately detecting the rotation angle of the motor M is attached to the motor M, and a pressure sensor PS for detecting the fluid pressure in the pressure chamber 66 is attached to the master cylinder 60.

By the way, in the illustrated configuration, the fourth and fifth
Six fluid pressure actuators A _{41 on} fingers F ₄ and F ₅
~A _43, A ₅₁ ~A ₅₃ are connected in common to a sixth fluid pressure source S6, when the fluid pressure from the sixth fluid pressure source S6 is outputted, the six hydraulic actuators A ₄₁ to A ₄₃ , A ₅₁
~ A ₅₃ tries to move at the same time. However, which joint moves to what extent depends on the load applied to the joint. Since the joints are driven by the same pressure, the joint with the smallest load bends the most. This characteristic is very convenient for grasping an object with a uniform force, and this point will be described later.

The configuration for controlling the entire robot shown in FIG. 1 will be briefly described with reference to FIG. 4. Instructions from the operator are sent to the action planning unit 71 which controls the action plan of the robot through an appropriate interface 70. The interface 70 is provided with a necessary manipulator 70a and a display 70b capable of confirming whether or not a proper command is given. As the operator 70a, for example, a joystick, a keyboard, etc. are known.

The action planning unit 71 makes a work plan based on the received command by referring to the knowledge base 72 in which the knowledge about the environment, the object, the work, etc. is input in advance, and the knowledge base 32 stores the work plan. For information not included,
Information is supplemented using the external sensor 73 such as a visual sensor, a tactile sensor, and an odor sensor. After the action plan is completed by the action plan unit 71, the result is sent from the action plan unit 71 to the integrated control unit 74, the action is activated by the integrated control unit 74, and the action on the way is monitored.
That is, from the integrated control unit 74, the respective sub-blocks of the movement control unit 75 that controls the movement, the arm control unit 76 that controls the trajectory of the arm, and the hand control unit 77 that controls the movement of the finger are instructed to take charge of their own. The state in the middle of action is sent from each control unit 75, 76, 77 to the integrated control unit 74. Further, the gain setting value in the hand control unit 77 is given from the gain setting unit 78, the detection value by the external sensor 73 is displayed on the display 79, and the control state by the integrated control unit 74 is displayed on the display 80. Furthermore, each control unit 75,
In order to exchange signals such as simple timing between 76 and 77, a communication circuit of another system indicated by a chain double-dashed line may be provided. The concept of the block diagram shown in FIG. 4 is as follows.
It is generally well known and does not form a major part of the present invention and will not be described further here.

The details of the hand control unit 77, which is a sub-block forming the main part of the present invention, will be described with reference to FIG. 5. The hand control unit 77 includes a central processing circuit 81 as drive control means and a hand H. It has six motor circuits MC1 to MC6 corresponding to the six fluid pressure sources S1 to S6 shown in FIG. 3 based on the degree of freedom being “6”.
Each of the motor circuits MC1 to MC6 basically has the same configuration. To describe the configuration of the motor circuit MC1 as a representative, the motor circuit MC1 outputs from the central processing circuit 81 in response to the motor torque. A D / A converter 83 for converting a digital current value to an analog value,
An amplifier 84 for amplifying the signal from the A converter 83 and giving it to the motor M, an encoder 87 for detecting the operation amount of the motor M, that is, a rotation angle, and a differentiation circuit as a first detection means for differentiating the detection value of the encoder 87. 85, a pressure sensor PS as a second detecting means for detecting the fluid pressure generated in the master cylinder 80 according to the operation of the motor M, and an A / D for converting an analog value obtained by the pressure sensor PS into a digital value. And a converter 86. Thus, the operation amount Ct (operating angle θt) of the motor M obtained by the encoder 87 and the differential value ωt obtained by the differentiating circuit 85, that is, the first bending operation speed of the first finger F ₁ toward the palm side are represented. And the fluid pressure Pt (external force Ft) obtained by the pressure sensor PS as a second index representing the external force applied to the first finger F ₁ are input to the central processing circuit 81.

Next, the control algorithm set in the central processing circuit 81 will be described. At that time, as the behavior of the artificial hand, an object that takes a specific posture is grasped (grasped / held) A relatively moving object Are to be moved using the 2nd to 5th fingers. An object that moves relatively is to be moved using the 1st finger.

Here, "taking a specific posture" does not necessarily mean one posture. For example, it means a posture in which the fingers F _{1 to} F ₅ are straightened, as in the case of taking a "careful" posture, and the second to fifth fingers are in the same manner as when going to grasp the hanging leather of the bag. It means that F _{2 to} F ₅ are aligned and slightly bent, and the first finger F ₁ is slightly bent. This is called "taking a specific posture" for the sake of simplicity.

Further, grasping an object means an operation of grasping and an operation of holding the object while grasping. An example of holding is a state where the user holds the handrail and stands up.

The above example corresponds to the case where a bag with a handle made of a string is lowered and carried.
At this time, the string bends due to the weight of the bag, and a finger outside a specific finger (for example, the third finger F ₃ ) slightly recedes, and takes a form familiar with the shape of the loose string. Also, since the bag shakes while it is being carried, the shape of the entire finger changes from moment to moment, following the shape change of the string. Even if the robot carries it, if the shape of the finger can be changed in the same way as in the case of humans, the string will not be burdened that much, and it can last a long time,
This is convenient because the burden on the finger side is evened out. As a control in this case, the hand as a whole must bear the weight of the bag, and the finger following the string is required to have some flexibility to retreat with respect to the weight. However, the fingers that bear the weight are not allowed to retreat. At this time,
Considering what happens to the first finger F ₁ , the weight is removed in the process of lifting the bag. Therefore, according to the control law such as when grasping the bag, the finger is gradually grasped in the direction of chasing the decreasing load. It will transform. This increases squeezing power and is uneconomical in terms of energy. If this is done by a human being, the grip force of the thumb will be removed to make it a natural body, and the above irrationality will not occur. Even with hand control, a control law that avoids irrationality is necessary.

Further, as an example of the above, when pulling a stone mill, for example, pushing and pulling force appears alternately on each finger,
This is the case when this pushing operation is performed. At this time as well, the thumb and the object of the opponent are relatively moving, and as a whole, the opponent is pushed and moved by the finger.

The control algorithm will be described with reference to FIGS. 6 and 7. In FIG. 6 and FIG. 7, the symbol "i" is a discrimination number of the degree of freedom, and "t" is a sampling period. Is.

First, in FIG. 6, STEP-101 to STEP-1
At 06, the gain setting values Ksi, ksi, Kgi, β,
Read Khi, khi and target index Fji,
Command reading from the integrated control unit 74 (see FIG. 4), and motor operating amount detection value Cti, pressure detection value Pti, and motor operating speed ωt from the motor circuits MC1 to MC6
i is read.

In the next STEP-110, when it is confirmed that the integrated control unit 74 instructs to take a specific posture, in STEP-111 to 114, the motor operation given from the integrated control unit 74 is performed. The position control toward the quantity target value Csi is executed. Ie ST
In EP-111, the motor torque Tsi is calculated according to the calculation formula shown in FIG. 6, and the obtained motor torque Tsi
si is output in STEP-112, STEP-113
When it is confirmed that the difference between the motor operation amount target value Csi and the motor operation amount Cti is less than the set value C _{0 which} is relatively small, the integrated control unit 74 is notified of the operation completion in STEP-114. Then, until (Csi-Cti) becomes less than C ₀ , S is passed through STEP-150 and 151.
Return to TEP-105.

In this embodiment, only the position of the final goal is given as the target value, but a method of giving the positions of a plurality of passing points on the way as the target value is also known. Further, the calculation of the motor torque is a known position control itself, and the calculation process of STEP-111 is not particularly novel.

Next, a case in which it is confirmed in STEP-120 that the integrated control section 74 has instructed to grasp an object will be described with reference to FIG. On this occasion,
It is assumed that the level of grip is transmitted from the integrated control unit 74 at the same time as the grip command. For example, when gripping a soft object, the action planning unit 71 can acquire information that the object is soft from the knowledge base 72, and can instruct the object to "softly" grip. In addition, instead of the action planning unit 71 issuing an instruction, it is also possible for an operator above it to input "gentle grasp". In the present invention, it does not matter whether the operator gives a command or the action planning unit 71 makes a command.

In any case, since the strength of gripping is given, in STEP-121, the target index F corresponding to the strength is grasped.
ji is set. Here, when the gripping force is strong, the target index Fji is also large.

In the next STEP-122, the motor torque is calculated, and the calculated motor torque is calculated in STEP-123.
Is output. That is, in STEP-122, how much the value (Pti + βωti) obtained by adding the value obtained by multiplying the motor operating speed ωti by β to the pressure detection value Pti is less than the target index Fji is calculated, and the appropriate gain Kgi is calculated based on the difference. The value obtained by multiplying by is calculated as the motor torque Tgi. Note that ωti is a differential value, but by utilizing the property that the sampling time of the computer is constant,
It is also possible to set i = Cti-C (t-1) i.

Here, the changes in the motor operation amount Cti and the pressure detection value Pti until the finger comes into contact with the object are shown as follows.
It becomes like FIG. The pressure is basically "0" until it comes into contact with an object, but in this embodiment, the mechanical spring is used for the return force of the joint, so the pressure for bending the joint against the spring force. Is occurring. Initially, the current value is high, but as a result, the motor M rotates, the speed signal ωti that differentiates the output of the encoder 87 increases, and eventually the current command value decreases and converges to a constant value. Therefore, the speed at which the finger grips an object also becomes constant. When the finger contacts the object in this state, the pressure detection value Pti rapidly rises. At this time, the lower the rigidity of the finger side is, and the lower the rigidity of the object of the other party is, the more gently the person stands up. As the pressure detection value Pti increases, (Pti + βωti)
Also becomes larger, and the balance up to now is broken. As a result, the value of {Fji- (Pti + βωti)} also becomes small, so the current command value becomes small, and as a result, ωti becomes small (slow). Finally, when Pti becomes substantially equal to Fji, the rotation of the motor M is stopped and the gripping operation is completed.

Thus, the first index ω representing the velocity
By using ti and the second index Pti representing the contact pressure to create a third index (Pti + βωti) and comparing the target index Fji with the third index (Pti + βωti), the position can be easily calculated. Control (or speed control) and force control can be combined. Moreover, since an inexpensive pressure sensor PS widely used for force detection can be used, there is no need to use an expensive and delicate load cell or a 6-axis force sensor as in the conventional case, and the pressure sensor SP
From the master cylinder 60 to the fluid pressure actuators A ₁₀ , A ₁₁ , A ₁₃ , A _{21 to} A ₂₃ , A _{31 to} A ₃₃ , A _{41 to} A.
_It can be connected to any of the fluid pipes ₄₃ , A _{51 to} A ₅₃ , and the degree of freedom of the installation position increases.

By the way, when grasping an object, the object is not always at the center of the grasping motion. For example, as shown in FIG. 9, the position and direction of the wrist of the robot are slightly different,
When the object O was grasped at the position indicated by the chain double-dashed line at the center of the grasping motion, the object O was actually located at the position indicated by the solid line. Therefore, the second finger F precedes the first finger F _{1. 2} is object O
Let's say you start contacting with. Such things are often experienced by humans. However, in the present embodiment, the first finger F ₁ and a second finger F ₂ are controlled by the same control law, in order to force control is taken into account, the second finger F ₂ which started initially contact The movement speed decreases, and eventually the movement of the first finger F ₁ catches up, and finally it becomes possible to grasp the object O at the position indicated by the solid line with the same force, and a little between the position of the object O and the position of the wrist. Even if there is a gap, you can grasp it well.

During this flow, the rigidity value of the mating object can be confirmed by detecting the time when the pressure level, which has been constant until now, increases and the time when the gripping is completed. The rigidity confirmation process is as follows. First, the slope of the straight line shown in FIG. 8 {Pti−P (t−1) i} / ωt
It is examined in STEP-124 whether i is significantly increased and becomes equal to or larger than the reference value αth. At this time, the pressure level is substantially constant as described above until the object and the finger come into contact with each other, and the pressure starts to rise when the object comes into contact with the finger. That is, the slope {Pti−P (t−1) i} / ωt
The time when i first becomes equal to or larger than αth is the time when the object comes into contact with the object. In STEP-124, the presence or absence of this contact is determined, and if the contact can be detected, in STEP-125, the pressure at that time is Pthi and the motor operation amount is Ct.
stored as hi. When gripping is completed, Pti≈
Since it was Fji, conversely, ωti≈0. Therefore, when gripping is completed, it can be known by examining whether or not ωti becomes a very small positive value ω ₀ or less, which is determined in STEP-126.
Then, when the first time ωti ≦ ω ₀ , the pressure is Pei,
The motor operation amount is stored in STEP-127 as Cei. Where (Pei-Pthi) / (Cei-Cth)
If i) is calculated, this value represents the average slope of the rising curve of FIG. This is nothing but the sum of the rigidity of the opponent's object and the hand, and the rigidity value I in STEP-128.
Is calculated as I = (Pei-Pthi) / (Cei-Cthi).

In the next STEP-129, each finger (i: 1
The simple average value of the rigidity values I for n) is calculated, and the average rigidity value Σi / n is fed back to the action planning unit 71 as the average rigidity value of the object. Then, in the action planning unit 71, the feedback information is converted into the knowledge base 72.
By performing the registration processing in the, the command level for the next grip is improved. For example, if you don't know the hardness of the target object at first, even if you give a command to gently "grasp" it as a precaution, if you know that the hardness of the opponent is hard in the first trial, the next step will be faster. Can command to grab. Moreover, even if the knowledge given by humans was wrong at first, it is possible to correct the mistake once it is grasped.

The torque Th1 calculated in STEP-122 is the first finger F ₁ from the time when the gripping is completed.
This torque is for controlling the entire position and holding the gripped state, and this torque Thi is also output in STEP-123.

Next, the case where it is determined in STEP-130 that a relatively moving object is attracted will be described. The motor torque in this case is STEP-1
31 is calculated, for example, the entire first finger F ₁ and the third finger F ₁
The finger F _3, with different formulas in the third finger F ₃ other finger _{F 2, F 4, F 5} , the motor torque is calculated in STEP-131. That is, the entire first finger F ₁ (i = 1), which is a specific finger at a specific position, and the second to fourth multiple fingers, which are a plurality of opposing fingers located at opposing positions facing the specific position.
The third finger F ₃ (i.e., the first opposing finger of the fingers F _{2 to} F ₅ )
= 5) means that the position at which the motor operation amount Cti becomes the target value Cei is executed and the position when the grip is held is held, but the second finger F ₂ (i = 3, which is the second opposing finger). 4),
For the fourth and fifth fingers F ₄ , F ₅ (i = 6), an index Pti representing the external force acting on those second opposing fingers.
The control law (calculation formula for obtaining Tgi in STEP-122) including is continued. However, the gain Kgi is changed to another gain Khi suitable for holding. Also, the target index Fji
The value defined in STEP-121 is continuously used. The motor torque thus obtained is output in STEP-132.

When the object is lifted in this state, the third finger F ₃
Finger F _2, F _4, F ₅ takes excessive force from cord bent in a non because Pti increases, the motor Mi is reversely rotated, load is evenly distributed over the whole of the finger F ₂ to F ₅ It will be like this.

Further, in the above operation, the load of the first finger F ₁ (thumb) is reduced, and the motor M2 starts the follow-up motion in order to keep the load Pt2 if left unattended, and as a result, the load is applied to the other finger. It induces useless movements that extend F ₂ , F ₃ , F ₄ , and F ₅ . In order to prevent this, STEP-13
3, the operating speed ωt of the motor M2 that drives the first finger F ₁
It is determined whether or not 2 exceeds the minimum set value ω2 ₀ , and when ωt2> ω2 ₀ , it is determined that the motor M2 is operating according to the decrease in the load, and the STE
In P-134, the target index Fj only for the motor M2
2 is corrected small. That is, in this embodiment, the target index Fj2 is weakened by reducing the fixed amount ΔF. As a method of weakening the target index Fj2, other than reducing the fixed amount ΔF as described above, a method of weakening the target index Fj2 at a fixed rate of 10% or the like may be used. In that case, the same effect can be obtained. It's obvious.

In this way, the target index Fj2 is gradually weakened as the motor M2 continues to rotate normally, and the follow-up movement of the first finger F ₁ is stopped.

By the way, the following movement of the first finger F ₁ can be prevented by controlling the first finger F ₁ so as to hold the current position as position control, as will be described later in the third embodiment. It is possible. Thus, while there is an advantage that no follow-up motion occurs when the position is controlled by such position control, when the follow-up motion of the first finger F ₁ is blocked by the method disclosed herein, The electric current for holding the position of F ₁ is substantially “0”, and energy saving can be achieved.

If it is determined in STEP-130 that the action is not to attract moving objects, STEP-
Proceeding to the processing of -141 to 144, the relatively moving object is pushed by the first finger F ₁ . These STEP-141
1 to 144, the motor torque is calculated by different calculation formulas for the first finger F ₁ and the other fingers F _{2 to} F _4, and the motor Mi (i = 3 to 6) sets the set value ω i ₀ (i = 3 to). If the motor i is operating when the value exceeds 6), the target index F
ji (i = 3 to 6) is corrected to be small.

According to this first embodiment, the first index ωti representative of the speed and the second index P representative of the contact pressure are obtained.
By simply adding ti to the third index (Pti +
By combining βωti) and comparing this with the target index Fji, position control (or speed control) and force control can be fused, and the calculation formula is extremely simple. Can be made with a small one.

When moving an object that moves relative to the artificial hand, only the target finger is controlled by the position control and the remaining fingers are controlled by the combined index of force and position as they are. You can take a posture. When the object of the other party moves relative to the hand, there is an advantage that the fingers F _{1 to} F ₅ can share the load with a uniform force.

FIGS. 10 to 13 show a second embodiment of the present invention, in which parts corresponding to those in the first embodiment are designated by the same reference numerals.

First, in FIG. 10, the hand controller 77 '.
Includes a central processing circuit 81 and six motor circuits MC1 'to MC6' corresponding to the six fluid pressure sources S1 to S6. The motor circuit M of the first embodiment shown in FIG.
With respect to C1 to MC6, each motor circuit MC1 'to MC6
??? is different in that the fluid pressure actuators A ₁₀ , A ₁₁ , A ₁₃ , A _{21 to} A ₂₃ , A ₃₁ of the master cylinder 60 and the finger joint are different.
Between _{~A 33, A 41 ~A 43,} A 51 ~A 53, is that the aperture 90 of suitable size is provided. With this throttle 90, if the amount of working fluid sent out from the master cylinder 60 is large per unit time (that is, the flow velocity is high), a pressure difference can be generated before and after the throttle 90, and the pressure sensor PS can A pressure as high as the differential pressure will be detected. From the viewpoint of the movement of the finger, the pressure sensor PS detects a pressure higher than the pressure for actually driving the finger, as the movement speed of the finger is higher.

By the way, in the first embodiment, the encoder 8
The rotation speed of the motor M detected by 7 and the pressure value detected by the pressure sensor PS are added. In the second embodiment, the information on the rotation speed of the motor M is already added to the amount detected by the pressure sensor PS. It will be included. Therefore, it is not necessary to add two pieces of information on the side of the central processing circuit 81.

The control algorithm in this second embodiment is shown in FIGS. 11 and 12. Thus, in the second embodiment, the movements of the hand are taken as four movements of "taking a specific posture", "holding", "holding", and "releasing" once released. I will not do it.

The algorithm shown in FIG. 11 is basically the same as the algorithm of the first embodiment shown in FIG.
In TEP-201 to 206, the gain setting value Ksi, k
Reading of si, Kgi, β, Khi, khi, Kri, kri, target index Fji, etc., and integrated control unit 74
The command reading from FIG. 4 and the motor operation amount detection value Cti, the pressure detection value Pti, and the motor operation speed ωti from the motor circuits MC1 to MC6 are read.

When it is confirmed in STEP-210 that the integrated control unit 74 has instructed to take a specific posture, in STEP-211 to 214, the motor operation amount given from the integrated control unit 74 is determined. Position control toward the target value Csi is executed, and (Csi-Ct
Until i) becomes less than C ₀ , STEP-250,15
The process of returning to STEP-105 via 1 is repeatedly executed.

In FIG. 12, when gripping is selected in STEP-220, STEP-221 to 221-2
30 processes are performed. At this time, since the pressure detection value Pti detected by the pressure sensor PS already contains a velocity component,
When calculating the motor torque in STEP-222, the speed information amount is not included in the calculation formula, and the target index Fj is simply included.
i to the difference between the detected pressure value Pti and the appropriate gain Kgi
The amount multiplied by is obtained as the motor torque Tgi.

By the way, in the second embodiment, another technique for calculating the rigidity value of the object is shown. That is, FIG.
As is clear from No. 3, the motor operating speed ωti is substantially constant until it comes into contact with the object, but it rapidly decreases when it comes into contact with the object, and eventually becomes zero. Therefore S
In TEP-224, it is determined whether any finger has come into contact with the object, that is, whether the curve in FIG. 13 becomes negative for the first time. At this time, considering the error, {ωti-
It is desirable to confirm whether or not the slope of the curve indicating the motor operating speed ωti becomes negative depending on whether or not ω (t−1) i} is equal to or less than the set value “−ε (ε is positive)”.

When it is confirmed in STEP-224 that one of the fingers comes into contact with the object, the motor operation amount Cth and the time Tth of the motor corresponding to the finger are STE.
It is stored in P-225. When it is confirmed in STEP-226 that one of the fingers is in contact with the object before, it bypasses STEP-225, and STEP-226 is bypassed.
Leading to.

[0090] Thereafter, the processing of STEP-227~230 is executed, it became the first ωti ≦ ω ₀ ST
When it is confirmed in EP-227, the motor operation amount at that time is Ce and the time is stored as Te in STEP-228. In STEP-228, the rigidity value I is I = (Te-Tt
h) / (Ce-Cth). That is, instead of simply averaging the I detected from each finger, the rigidity value I detected by the first contacting finger represents the rigidity value of the object. After that, in STEP-230, the stiffness value I is fed back to the action planning unit 71,
In the action planning unit 71, the feedback information is registered in the knowledge base 72.

Next, if it is selected not to grip, ST
In EP-231, a selection is made as to whether or not “hold” is selected for carrying or moving a gripped object. When "Hold" is selected,
The motor torque is calculated in STEP-232, and STEP
The motor torque calculated in −233 is calculated.

By the way, in this embodiment, the holding posture is taken for all fingers. Therefore, when carrying something like the bag described in the first embodiment, the shape of the entire hand remains the same as when it was gripped, so it does not follow the deformation of the string, but the control itself Is the first
It is simpler than the example. As the target value at this time, the motor actuation amount Ce detected last when gripping is adopted.

If it is not selected to hold in STEP-231, the processing of STEP-241 to 244 is executed, and the movement for releasing the gripped state is automatically selected. By the way, the pose for releasing the gripped state is one of the "specific postures", but in this example, the release posture is particularly specified. Then, in STEP-241, the target position Cri peculiar to the posture is given, and the existing position control is operated so as to follow this target value. The target value Cri is one of the cases in which the motor position when each finger is straightened is appropriate, such as the posture of a human being when being careful.

What is remarkable in the second embodiment is that the driving speed of the joint is replaced by the throttling resistance of the fluid by the throttling 90. By this replacement, the velocity information and the force information become the same physical unit, and the detection is performed. Can be performed with one sensor PS. In the example, the motor operating speed ω and the counter value obtained by the differentiating circuit 85 are used, but this is for use in estimating the rigidity and is not necessary for joint control itself. .

It should be noted that the diaphragm 90 may be a specific diaphragm or may be substituted by the resistance value of the entire conduit. In the latter case, a visually recognizable geometric diaphragm is unnecessary. .

FIGS. 14 and 15 show a control algorithm of the third embodiment of the present invention. The technique disclosed in this algorithm causes a malfunction as described in FIG. 9 to occur. By notifying the upper control unit in advance, it is a technique that can control the position (and direction) of the wrist more accurately from the next time at least. The hand controller to which this algorithm is applied is the one shown in FIG.

In this control algorithm, STEP-301 to 306, STEP-310 to 31-31 in FIG.
4, STEP-350, 351 is the second shown in FIG.
STEP-201 in the control algorithm of the embodiment
206, STEP-210 to 214, STEP-25
It is almost the same as 0,251.

In FIG. 15, when the gripping mode is selected in STEP-320, STEP-321 to
The processing of 329 is executed, but STEP-320 to STEP-320
The processing of No. 3 is the same as that of STEP-220 to 223 in the control algorithm of the second embodiment shown in FIG.

In STEP-324, it is confirmed whether or not any finger has come into contact with the object depending on whether or not the pressure Pti exceeds the set value Pth for the first time, and it is confirmed that any finger has come into contact with the object for the first time. When
In STEP-325, the position of each finger at that time is stored. That is, in STEP-325, when one of the fingers comes into contact with the object, the degree-of-freedom distinction number “i” of the driving motor M and the motor actuation amount Cthi-1 are stored for each finger at the time of contact. It In addition, STEP-32 indicates that one of the fingers had previously touched the object.
When confirmed in 6, bypass STEP-325 and perform S
Reach TEP-327.

In STEP-327, it is confirmed whether or not a finger at a position opposite to the finger that first comes into contact with the object comes into contact with the object by whether pressure Pti≤Pth. For example, when one of the second to fifth fingers first contacts the target object, the finger at the facing position is the first finger (thumb). Thus, in STEP-328, the position of the finger at the facing position is stored. For example, when any of the second to fifth fingers first comes into contact with the target object, the finger at the facing position is the first finger (thumb), and in STEP-328, the motor for driving the facing finger is used. Working amount Cthi-2
(I = 2 in this example) is stored.

Then, in STEP-329, the difference between the position of the finger at the facing position stored last time and the position of the same finger measured this time is calculated as a value representing the degree of displacement of the wrist joint, The difference E is fed back to the host controller. The upper control unit can correct the wrist position based on the difference E in the embodiment time, or does not perform the correction this time and the next time when the object is similarly grasped,
You can also bring your wrist to a position that takes this error into account. The present invention does not discuss how to use this error. The object to be grabbed may be the same as this time or different. In short, it means that an error was inherent in the positioning process, and therefore, a method capable of detecting the fact that an error has occurred and the degree of the error is provided.

The method described above is effective for detecting a shift in a two-dimensional plane as shown in FIG. 9, but this technique is
As described below, it can be expanded and used for detecting a shift in a three-dimensional space. That is, even if the target object shown in FIG. 9 is a long rod-shaped object and the rod-shaped object is tilted with respect to the hand, the tilt error can be detected. At that time, for detecting the positional deviation in the three-dimensional space, for example, the second finger F ₂ first contacts the target object, and the fifth finger F ₅
If is touched last, the position of the fifth finger F ₅ when the second finger F ₂ is touched first and the position of the fifth finger F 5 when touched
Those skilled in the art can easily understand that the tilt error of the hand with respect to the rod-shaped object can be estimated from the difference from the position of ₅ .

Further, in the third embodiment, the specific finger (the third finger in the above description) when the bag is lowered as described above.
Another technique has been disclosed for preventing the vehicle from withstanding the weight and retracting. When the gripping mode is denied in STEP-320, in this embodiment, the mode automatically shifts to the "holding" mode in STEP-331 to 334. Then STEP-
In 331, as a means for preventing the follow-up movement of the first finger F ₁ , the position control targeting the actuation amount Cei is finally executed when the first finger F ₁ is stabilized by gripping, and the other fingers are force-controlled as they are. However, the gain is the gain Kh suitable for holding.
It has been changed to i.

In the next STEP-332, STEP-3
The torque obtained at 31 is output. Moreover, STEP-3
In 33, only focused on the third finger F _3, if the third finger F ₃ to have reversed to motor M5 is related ωti is detected as negative, since the target index Fj5 is too small, a certain amount of this Δ
Reinforce only F. However, if ωt5 does not show a negative value, it is judged that the weight of the bag you have is sufficiently light,
do nothing. Whether or not the reinforcement of ΔF is sufficient is judged after executing one cycle, and if it is not sufficient, the reinforcement of ΔF is further performed. In this way, the value of ωt5 finally does not show a negative value, so that the weight of any bag can be dealt with. In this example, the third finger F ₃ is focused on, but other fingers may be used, and in some cases, the second and third fingers may be monitored to prevent the backward movement.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the claims. It is possible.

For example, although the link coupling bodies illustrated in the above embodiments are all fingers, some of the disclosed techniques can also be applied to control of the arm. This is because basically the same control law can be used except that the arm and the finger are different in size. Further, although the example in which the number of fingers is 5 is shown, the number of fingers does not basically limit the technical content. Although the actuator for moving the finger also exemplifies the linear motion type, this is not essential either, and the present invention can be applied even if a rotary actuator is used.

[0107]

As described above, according to the first aspect of the present invention, the first detecting means for detecting the first index representing the movement speed of the link coupling body and the external force applied to the link coupling body are represented. A second detection means for detecting the second index; and a drive control means for driving the motor so that the third index determined based on the first and second indexes matches a predetermined target index. Thus, the dexterous movement of the link combination can be realized by an extremely simple control law in which the force control and the position (or speed) control are unified.

According to the invention described in claim 2, in addition to the configuration of the invention described in claim 1, the third index based on the first and second indexes expressed in a unified physical unit. In order to determine, the physical unit conversion means for converting one of the first and second physical units into the other physical unit is provided, and force control and position (or velocity) control are performed by the physical unit conversion means. It is possible to provide an inexpensive and reliable control device that is easily unified.

According to the third aspect of the invention, the flow velocity of the working fluid supplied to the fluid pressure actuator is detected to make the first
Of the first index and the second detection means for detecting the pressure of the working fluid supplied to the fluid pressure actuator to generate the second index, and the second index is defined based on the first and second indexes. A pressure sensor is used as a highly accurate and inexpensive force sensor by providing a drive control means for comparing the third index with a predetermined target index and controlling the operation amount of the motor according to the comparison result. Thus, it is possible to give the installation place of the sensor a great degree of freedom.

According to the fourth aspect of the invention, in addition to the configuration of the third aspect of the invention, a throttling means is provided in the fluid pipeline connecting the fluid pressure source and the fluid pressure actuator, and the first and second aspects are provided. (2) The pressure sensor, which also serves as the detection means, is capable of detecting the fluid flow velocity replaced with the fluid pressure, and is disposed in the fluid conduit upstream of the throttle means, so that the physical quantity of the first and second indicators is determined by the pressure sensor. The unit can be easily unified, and an inexpensive and reliable control device can be provided.

According to the fifth aspect of the present invention, a link coupling body in which a plurality of links are coupled so as to be capable of relative movement, and an actuating force is applied to at least one of the links to provide an external object to the link coupling body. In a link device including a motor that causes an arbitrary contact movement with the first link, a first index that represents the movement speed of the link assembly and a second index that represents the external force applied to the link assembly are detected. At the same time, the motor is driven by using the detected first and second indexes, and based on the increase / decrease relationship of the first and second indexes, the start or end of contact between the link combination and the external object is detected. Therefore, it is possible to reliably and easily detect the contact of the link combination with the object by the change of the first and second indexes according to the operation result of the link combination.

According to the sixth aspect of the present invention, the first index representative of the movement speed of the link combination, the second index representative of the external force applied to the link combination, and the operation displacement amount of the link are calculated. Each is detected, the motor is driven by using the detected first and second indexes, and the start of contact with the object of the link is detected from the change in the first or second indexes,
Since the rigidity of the object is estimated based on the second index after the start of contact and the detected value of the operating displacement of the link, link coupling is performed with an extremely simple control law that unifies force control and position (or speed) control. While realizing a dexterous movement of the body, the contact of the link combination with the object can be detected reliably and easily, and the rigidity of the object is detected in detail by the contact of the link combination with the object. Can be used to control the.

According to the invention described in claim 7, first detecting means for detecting the first index representing the movement speed of each finger,
Second detection of a second index representing the external force applied to each finger
By providing the detection means and the drive control means that determines the operation amount of the actuator so that the third index determined based on the first and second indexes matches the predetermined target value, the positioning accuracy of the wrist is improved. Even if it is sweet, the error can be absorbed and the target object can be reliably grasped.

According to the invention described in claim 8, in addition to the structure of the invention described in claim 7, the actuator is a fluid pressure actuator to which a fluid pressure source for generating fluid pressure according to the operation of the motor is connected. The first detection means is a differentiation circuit that differentiates the output of the encoder mechanically engaged with the motor to generate speed information, and the second detection means is the working fluid supplied from the fluid pressure source to the actuator. Since it is a pressure sensor that detects the pressure of 1, the inexpensive and reliable control device can be provided by using an inexpensive pressure sensor and a differentiating circuit.

According to the invention of claim 9, in addition to the structure of the invention of claim 7, the actuator is a fluid pressure actuator to which a fluid pressure source for generating fluid pressure according to the operation of the motor is connected. In the fluid pipeline connecting the fluid pressure source and the actuator, throttling means for throttling the fluid pressure is provided, and in the second detecting means, the pressure loss generated when the working fluid passes through the throttling means represents the fluid flow velocity. Also, since the fluid pressure is provided in the fluid pipeline on the upstream side of the throttle means based on the fact that the fluid pressure represents the external force, by detecting the second index including the first index by the second detection means,
An inexpensive and reliable control device can be provided.

According to the tenth aspect of the present invention, the detecting means for detecting the working displacement amount representative index representing the working displacement amount of at least one first facing finger of the plurality of facing fingers, and each facing finger. At least one of which is different from the first opposing finger
Detecting means for detecting an external force representative index representative of the external force applied to the second opposing finger of the book, and the first index is set to a set target value when an external force in a direction along the specific position and the opposing position is applied to the grasped object. By providing the drive control means for controlling the operation of the actuator so as to operate the first opposing finger so as to coincide with each other and operate the second opposing finger so that the second index coincides with another set target value, An equal load can be applied to each finger according to a change in external force applied to the object.

According to the eleventh aspect of the present invention, the detecting means for detecting the index representative of the external force applied to at least one of the plurality of opposing fingers, the first opposing finger, and the first opposing finger of each of the opposing fingers. Detecting means for detecting an index representative of an external force applied to at least one second opposing finger different from the finger, and actuating the first and second opposing fingers so that both indicators match their respective set target values. When the external force in the direction along the specific position and the opposing position is applied to the gripped object while controlling the operation of the actuator, the increase in the external force is detected or detected in advance, and both the set target values are set when the external force increases. By providing the drive control means for increasing at least one of the above, it is possible to apply a force against the external force to the finger.

According to the twelfth aspect of the present invention, the detecting means for detecting the index representative of the external force applied to at least one of the specific finger and the opposing finger, and the index so that the index coincides with the set target value. Controls the operation of the actuator to activate at least one finger, and detects a decrease in the grasping force of one of the fingers when an external force is applied to the grasped object in the direction along the specific position and the facing position or in advance. By providing a drive control unit capable of controlling the operation of the actuator so as to fix the position of the finger on the side where the grasping force is reduced by detecting it, the finger corresponding to the decrease in the external force acting on the object is provided. The following movement can be prevented.

According to the thirteenth aspect of the present invention, the detecting means for detecting an index representative of the external force applied to at least one of the specific finger and the opposing finger, and the index so as to match the set target value with the detecting means. Controls the operation of the actuator to activate at least one finger, and detects a decrease in the grasping force of one of the fingers when an external force is applied to the grasped object in the direction along the specific position and the facing position or in advance. By providing the drive control means for reducing the set target value in response to the decrease in the index when it is sensed, it is possible to prevent the finger following movement in accordance with the decrease in the external force acting on the object.

According to the fourteenth aspect of the invention, the change in the pressure of the driving fluid is detected to recognize that the finger has begun to come into contact with the object. Therefore, the finger can be reliably brought into contact with the object. It can be easily detected.

According to the fifteenth aspect of the invention, the first index representative of the speed of movement of the finger and the second index representative of the external force applied to the finger are detected, and the first and second indexes are determined. When the finger is gripped or held by the finger by using the link, the fact that the first index becomes substantially 0 is detected and the end of the gripping or holding operation is detected. In addition, it is possible to reliably grasp the target object and to reliably detect the contact of the finger with the object.

According to the sixteenth aspect of the present invention, the first index representative of the movement speed of the finger and the second index representative of the external force applied to the finger are detected, and the first and second indexes are determined. When the finger is held or held by the finger by using the link, the start of contact between each finger and the object is detected from the change in the first or second index, and each finger is touched by the object. When there is a difference in the time when the contact is started, the relative position deviation between the artificial hand and the object is estimated based on the difference, so that it is possible to reliably grasp the target object and It is possible to detect the amount of positional deviation of the position and utilize it for the next control.

Further, according to the seventeenth aspect of the present invention, the first index representing the speed of movement of the finger, the second index representing the external force applied to the finger, and the index representing the position of the finger are provided. Detecting and driving the link using the first and second indicators, and when at least one of the fingers makes contact with the object, each finger and the corresponding one of the fingers are detected based on the change of the first or second indicator. The presence or absence of contact with the object is detected, the rigidity value of the object is estimated based on the second index after the start of contact and the index representing the position of the finger, and the target index is changed based on the rigidity value. Therefore, it becomes possible to reliably grasp the target object, and to detect the rigidity of the object in detail by touching the object with a finger, and use the detection result for the next control.

[Brief description of drawings]

FIG. 1 is an external view of a robot to which a first embodiment is applied.

FIG. 2 is a plan view of a mechanism of a robot hand (right hand) as viewed from the back side of the hand.

FIG. 3 is a drive circuit diagram of a hand.

FIG. 4 is a control block diagram of the entire robot.

FIG. 5 is a control block diagram of a hand.

FIG. 6 is a diagram showing a part of a control algorithm.

FIG. 7 is a diagram showing the rest of the control algorithm.

FIG. 8 is a diagram showing a change in reaction force according to hardness of an object when a hand grips the object.

FIG. 9 is an explanatory diagram when the hand tries to grip an object.

FIG. 10 is a control block diagram of the hand of the second embodiment.

FIG. 11 is a diagram showing a part of a control algorithm.

FIG. 12 is a diagram showing the rest of the control algorithm.

FIG. 13 is a diagram showing a change in driving speed at the time of contact with an object.

FIG. 14 is a diagram showing a part of a control algorithm of the third embodiment.

FIG. 15 is a diagram showing the rest of the control algorithm.

[Explanation of symbols]

11, 12, 14, 21-24, 31-34, 41-4
4, 51-54 ... Link 81 ... Central arithmetic circuit as drive control means 85 ... Differentiating circuit as detecting means 87 ... Encoder as detecting means 90 ... As physical unit converting means Apertures A ₁₀ , A ₁₁ , A ₁₃ , A _{21 to} A ₂₃ , A _{31 to} A ₃₃ , A _{41 to} A
₄₃ , A _{51 to} A ₅₃ ... Fluid pressure actuator F _{1 to} F ₅ ... Finger as link coupling H ... Hand PS ... Pressure sensor as detecting means M ... Motor S1-S6 ... Fluid pressure source

Claims (17)

[Claims] 1. A plurality of links (11, 12, 14, 21)
~ 24,31-34,41-44,51-54) are relative
A link coupling body (F ₁~ F_Five)
And applying an actuating force to at least one of the links
The link joint is not subject to any contact motion with the external body.
A link device having a motor (M) for
KU combination (F₁~ F_Five) The first finger representing the movement speed of
Link with the first detecting means (85, PS) for detecting the target
Coalescence (F₁~ F_Five) A second index representing the external force applied to
And a second detection means (PS) for detecting
The third index determined based on the index is set as the predetermined target index.
Drive control means (81) for driving the motor so that
And a motion control in a link device including:
Your device. 2. In order to determine the third index based on the first and second indices expressed in a unified physical unit, one of the physical units of the first and second indices is replaced by the other physical unit. 2. The motion control device for a link device according to claim 1, further comprising a physical unit conversion means (90) for converting into a unit. 3. A plurality of links (11, 12, 14, 21)
~ 24,31-34,41-44,51-54) are relative
A link coupling body (F ₁~ F_Five)
And any contact movement of the link combination with an external object
A flow coupled to at least one of the links to
Body pressure actuator (A_Ten, A₁₁, A ₁₃, A_{twenty one}~ A_{twenty three},
A₃₁~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And the motor
The working fluid having the fluid pressure corresponding to the operation of (M) is
Equipped with fluid pressure sources (S1 to S6) to supply to the actuator
Supply to the fluid pressure actuator in the link device
To detect the flow velocity of the working fluid to generate the first index
First detection means (85, PS) and fluid pressure actuator
The second index is generated by detecting the pressure of the working fluid supplied to
Second detecting means (PS) to be formed and first and second indicators
Compare the 3rd index defined based on
And the operation of the motor (M) according to the comparison result.
A drive control means (81) for controlling the amount of movement.
A motion control device in a characteristic link device. 4. A fluid pressure source (S1 to S6) and the fluid pressure actuator _{(A 10, A 11, A} 13, A 21 ~A 23, A 31 ~
A fluid passage connecting the A ₃₃ , A _{41 to} A ₄₃ , A _{51 to} A ₅₃ ) is provided with a throttling means (90), and the pressure sensor (PS), which also serves as the first and the second detecting means, acts as a fluid pressure sensor. 4. The motion control device in a link device according to claim 3, wherein the flow velocity of the fluid replaced with is detected and disposed in the fluid pipe upstream of the throttle means (90). 5. A plurality of links (11, 12, 14, 21)
~ 24,31-34,41-44,51-54) are relative
A link coupling body (F ₁~ F_Five)
And applying an actuating force to at least one of the links
The link joint is not subject to any contact motion with the external body.
A link device having a motor (M) for
KU combination (F₁~ F_Five) The first finger representing the movement speed of
Mark and link combination (F₁~ F_Five) Represents the external force applied to
And the second indicator that does
Drive the motor using the first and second indicators,
Link based on the increase / decrease relationship of the first and second indicators
Combination (F₁~ F_Five) Starts contacting with an external object or
A link device characterized by detecting the end
Dynamic control method. 6. A plurality of links (11, 12, 14, 21)
~ 24,31-34,41-44,51-54) are relative
A link coupling body (F ₁~ F_Five)
And applying an actuating force to at least one of the links
The link joint is not subject to any contact motion with the external body.
A link device having a motor (M) for
The first index that represents the moving speed of the link and the link
The second index that represents the external force applied to the coalescence and the link
The first and second detected by respectively detecting the dynamic displacement amount and
Drive the motor using the index of
From the change in the index of
The second indicator after the contact start and the phosphorus
Estimate the rigidity of the object based on the detected displacement value
Motion control method in a link device characterized by:
Law. 7. A plurality of links movably coupled to each other
(11, 12, 14, 21-24, 31-34, 411-
44, 51-54) and at least one of those links
Actuator (A_Ten, A₁₁, A₁₃, A
_{twenty one}~ A_{twenty three}, A ₃₁~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And
A small number that each has a position that can face each other
At least two fingers (F₁~ F_Five) For grasping or
Is an artificial hand that can hold the movement speed of each finger.
First detection means (85, P) for detecting a representative first index
S) and a second index representing the external force applied to each finger is detected.
To the second detection means (PS) and the first and second indicators
The third index determined based on this matches the specified target value.
Drive control means (8
1) and the luck in an artificial hand characterized by comprising
Dynamic control device. 8. The actuator (11, 12, 1)
4, 21-24, 31-34, 41-44, 51-5
4) is a fluid pressure actuator to which fluid pressure sources (S1 to S6) that generate fluid pressure according to the operation of the motor (M) are connected, and the first detecting means (85) is the motor (M). Is a differentiation circuit that differentiates the output of the encoder (E) mechanically engaged with the to generate speed information, and the second detection means is a pressure sensor that detects the pressure of the working fluid supplied from the fluid pressure source to the actuator. The motion control device for an artificial hand according to claim 7, wherein the motion control device is provided. 9. The actuator (11, 12, 1)
4, 21-24, 31-34, 41-44, 51-5
4) is a fluid pressure actuator to which fluid pressure sources (S1 to S6) that generate fluid pressure according to the operation of the motor (M) are connected, and fluid is connected to the fluid pressure source and the actuator. Throttling means (90) for throttling the pressure is provided,
The second detection means (PS) is based on the fact that the pressure loss generated when the working fluid passes through the throttling means (90) represents the fluid flow velocity and the fluid pressure represents the external force. The motion control device for an artificial hand according to claim 7, wherein the motion control device is provided on the upstream side in the fluid conduit. 10. A plurality of links (11, 12, 14)
Combined so that they can move relative to each other and placed at a specific position
At least one specific finger (F₁) And multiple phosphorus
KU (21-24, 31-34, 41-44, 51-5
4) are connected so that they can move relative to each other
Performs an operation including an object gripping operation in cooperation with the specific finger
Multiple pairs that are placed at opposite positions to face a specific position
Finger (F ₂~ F_Five) And the specific finger and the
Is connected to at least one of the constituent links
Actuator (A_Ten, A₁₁, A₁₃, A_{twenty one}~ A_{twenty three}, A₃₁
~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And an artificial han equipped with
, At least one of the plurality of facing fingers
First opposing finger (F₃) Amount of displacement that represents the amount of displacement
Detecting means (87) for detecting the representative index,
At least one second opposing finger different from the first opposing finger
(F₂, F_Four, F_Five) External force representative of external force applied to
The detection means (PS) that detects the index and the
When an external force is applied in the direction between the fixed position and the facing position
Make sure that the representative index of operating displacement matches the set target value.
1 Operate the opposite finger and set the external force representative index to another setting.
Be sure to operate the second opposite finger so that it matches the fixed target value.
Drive control means (8) for controlling the operation of the actuator.
1) and the luck in an artificial hand characterized by comprising
Dynamic control device. 11. A plurality of links (11, 12, 14)
Combined so that they can move relative to each other and placed at a specific position
At least one specific finger (F₁) And multiple phosphorus
KU (21-24, 31-34, 41-44, 51-5
4) are connected so that they can move relative to each other
Performs an operation including an object gripping operation in cooperation with the specific finger
Multiple pairs that are placed at opposite positions to face a specific position
Finger (F ₂~ F_Five) And the specific finger and the
Is connected to at least one of the constituent links
Actuator (A_Ten, A₁₁, A₁₃, A_{twenty one}~ A_{twenty three}, A₃₁
~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And an artificial han equipped with
, At least one of the plurality of facing fingers
First opposing finger (F₃) Detects an index that represents the external force applied to
Detecting means (PS) that performs
Is different from at least one second opposite finger (F₂, F_Four, F
_Five) Detecting means for detecting an index representative of the external force applied to
(PS) and both of the above indicators match their respective set target values
To actuate the first and second opposite fingers to
Controls the operation of the actuator and holds the object
External force is applied to the body in a direction along the specified position and the facing position.
If the external force increases,
When the external force increases, increase at least one of the above set target values.
Drive control means (81) for enlarging
Motion control device for artificial hand. 12. A plurality of links (11, 12, 14)
Combined so that they can move relative to each other and placed at a specific position
At least one specific finger (F₁) And multiple phosphorus
KU (21-24, 31-34, 41-44, 51-5
4) are connected so that they can move relative to each other
A specific position is required to perform an object gripping operation in cooperation with the specific finger.
At least one pair arranged at opposite positions facing each other
Finger (F ₂~ F_Five) And the specific finger and the
Is connected to at least one of the constituent links
Actuator (A_Ten, A₁₁, A₁₃, A_{twenty one}~ A_{twenty three}, A₃₁
~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And an artificial han equipped with
At least one of the specific finger and the opposite finger
Detecting means for detecting an index representing the external force applied to the human finger
(PS) and before the index matches the set target value
Note Actuator to activate at least one finger
Control the operation of
And an external force is applied in the direction along the facing position.
Detects or detects in advance that the gripping force of one finger is misaligned
Action to fix the position of the finger on the side where the gripping force decreases.
Drive control that makes it possible to control the operation of the cheater
An artificial hand characterized by comprising means (81)
Motion control device. 13. A plurality of links (11, 12, 14)
Combined so that they can move relative to each other and placed at a specific position
At least one specific finger (F₁) And multiple phosphorus
KU (21-24, 31-34, 41-44, 51-5
4) are connected so that they can move relative to each other
A specific position is required to perform an object gripping operation in cooperation with the specific finger.
At least one pair arranged at opposite positions facing each other
Finger (F ₂~ F_Five) And the specific finger and the
Is connected to at least one of the constituent links
Actuator (A_Ten, A₁₁, A₁₃, A_{twenty one}~ A_{twenty three}, A₃₁
~ A₃₃, A₄₁~ A₄₃, A₅₁~ A₅₃) And an artificial han equipped with
At least one of the specific finger and the opposite finger
Detecting means for detecting an index representing the external force applied to the human finger
(PS) and before the index matches the set target value
Note Actuator to activate at least one finger
Control the operation of
And an external force is applied in the direction along the facing position.
Detects or detects in advance that the gripping force of one finger is misaligned
The above set target value is reduced according to the decrease in the above index
Drive control means (81) for controlling
Motion control device for artificial hands. 14. A plurality of links (11, 12, 14, 2)
1 to 24, 31 to 34, 41 to 44, 51 to 54 are movably coupled to each other, and at least two fingers (F ₁ to
Comprising a F _5), links constituting their finger (F ₁ ~F ₅₎ (11,12,14,21~24,31~34,4
1 to 44, 51 to 54) in an artificial hand capable of gripping or holding an object by driving at least one of the fingers (F _{1 to} F ₅ ) by fluid pressure. A method for controlling motion in an artificial hand, which is characterized in that a person starts to contact an object. 15. A plurality of links (11, 12, 14, 2)
1 to 24, 31 to 34, 41 to 44, 51 to 54 are movably coupled to each other, and at least two fingers (F ₁ to
Comprising a F _5), links constituting their finger (F ₁ ~F ₅₎ (11,12,14,21~24,31~34,4
1 to 44, 51 to 54), an artificial hand capable of gripping or holding an object by driving at least one of the index ( ₁ ) to (f _{1 to} F ₅ ) and A second index representative of the external force applied to (F _{1 to} F ₅ ) is detected, and the links (11, 12, 14, 21 to 24, 31 to 34, 41 are utilized by using the first and second indexes.
～44,51～54) drives, the finger (F ₁ to F ₅₎
When holding or holding the object, detecting that the first index has become substantially 0 to detect the end of the holding or holding operation, the motion control method in the artificial hand. . 16. A plurality of links (11, 12, 14, 2)
1 to 24, 31 to 34, 41 to 44, 51 to 54) are phases
Pairs are movably coupled and paired with each other.
At least two fingers (F₁~
F_Five) And those fingers (F₁~ F_Five)
Rank (11, 12, 14, 21-24, 31-34, 4
Driving at least one of 1 to 44, 51 to 54)
With an artificial hand that can hold or hold objects by
And finger (F₁~ F_Five) The first finger representing the movement speed of
Mark and finger (F₁~ F_Five) The second representative of the external force applied to
And the index is detected and the first and second indexes are used to
KU (11, 12, 14, 21-24, 31-34, 41
~ 44, 51-54) to drive the finger (F₁~ F_Five)
When holding or holding the object, the first or second
From the change in the index of each finger (F₁~ F_Five) And the object
The start of contact of each finger (F₁~ F _Five) Is the item
If there is a difference in the time when contact with the body starts, the difference is
Estimate the relative displacement between the artificial hand and the object based on
Motion control method in artificial hand characterized by
Law. 17. A plurality of links (11, 12, 14, 2)
1 to 24, 31 to 34, 41 to 44, 51 to 54 are movably coupled to each other, and at least two fingers (F ₁ to
Comprising a F _5), links constituting their finger (F ₁ ~F ₅₎ (11,12,14,21~24,31~34,4
1 to 44, 51 to 54), an artificial hand capable of gripping or holding an object by driving at least one of the index ( ₁ ) to (f _{1 to} F ₅ ) and The second index representative of the external force applied to (F _{1 to} F ₅ ) and the index representative of the position of the finger are detected, and the first index is detected.
And link using the second index (11, 12, 1
4, 21-24, 31-34, 41-44, 51-5
4) driving the _first finger or the second finger when at least one of the fingers (F _{1 to} F ₅ ) contacts the object.
The presence / absence of contact between each finger and the object is detected based on the change in the index, and the rigidity value of the object is estimated based on the second index after the start of contact and the index representing the position of the finger. A motion control method in an artificial hand, characterized in that the target index is changed based on the rigidity value.