JPH09300257A - Operation control device for manual manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manual manipulator operation control device capable of simplifying a setting work for the speed gain and speed limit value of a manipulator, and improving work efficiency. SOLUTION: A selector device 8 feeds a selected mode signal to a mode selector switch 9, and this switch 9 is operated to select a high speed mode, a low speed mode or the like. A mode parameter setting part 10 stores a plurality of types of a combination of a critical speed and an operation gain, and concurrently supplies an input conversion part 13 with a critical speed and an operation gain corresponding to a mode selected with the switch 9. Also, the induced signal of an operation device 7 is inputted to a multiplication part 132, and multiplied by the operation gain for calculating a target speed vector. Then, the vector is fed to a switch 134 and a comparison part 133. In addition, the comparison part 133 compares an upper limit speed and a lower target value outputted from a lower target value calculation part 131, with a target speed, and selects the switch 134, so as to keep the target speed within the range of the upper limit and lower target values. Then, an output signal from the switch 134 is sent out to a speed calculation part 14 for calculating a target velocity angle. This angle is converted to a drive signal for a hydraulic controller 15 and fed thereto.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for a construction manipulator.

[0002]

2. Description of the Related Art A method for teaching the robot the work by guiding the arm tip of the robot, not limited to a handling manual manipulator for performing the construction work,
For example, there is a direct teaching method for a robot based on force control.

In this direct teaching method, a teaching operator (operator) applies a force to a hand effector provided at an arm tip of a robot, and the applied force is detected by a force sensor provided in a wrist section. Based on the force signal output by this force sensor, the control means is
Force control is performed and the operation of the robot arm is controlled so as to respond to the force applied to the hand effector. Then, the control means determines the moving speed and the moving direction of the hand effector, guides the hand effector to a target position, and stores the teaching data.

In this teaching method, Japanese Patent Laid-Open No. 3-123907 discloses an example in which the gain of the guiding speed with respect to the operating force can be changed so that the feeling of the guiding operation of the operator can be arbitrarily changed according to the work situation. Has been described. this is,
There is a mode in which the induction speed gain for the operating force is large and the hand effector is moved at high speed with a light operating force, and a mode in which the induction speed gain for the operating force is small and the hand effector is moved at a low speed with a heavy operating force. It is provided that these modes can be arbitrarily changed during the teaching work.

As a result, in the initial stage of the teaching work, the hand effector is moved at high speed with a light operating force to roughly position it, and in the final stage of the teaching work,
It is possible to move the hand effector with a heavy operating force to perform highly accurate positioning.

Further, in the direct teaching method, Japanese Patent Laid-Open No.
Japanese Patent No. 344505 describes that a speed limiter for suppressing the maximum value of the moving speed of the tip of the movable part of the robot body to a preset speed limit value is provided and the speed control by the speed limiter is realized. There is. This prevents the positioning error from becoming large due to an erroneous operation by the operator.

A robot hand effector is used as an operating lever,
If this operation lever and the force sensor are removed together from the arm tip of the robot, and a gripping device is attached to the removed location, an operation type handling manipulator having an operation device composed of the force sensor is obtained.

[0008]

However, in the above-mentioned prior art, the setting of the induction speed gain (hereinafter referred to as the induction speed gain) that determines the operation feeling of the operator and the limit value of the moving speed of the robot arm tip portion. The settings were made independently of each other.

As a result, the manipulator's hand is the target object after the manipulator's hand is manipulated by setting a large induction velocity gain so that the manipulator's hand can be guided at high speed with a light operating force. If only the speed limit value is set small to avoid collision when approaching, the speed of the hand of the manipulator will reach the speed limit value immediately.

Therefore, for example, when the object to be handled is fitted into a certain frame, it is difficult to perform fine operation, and the positioning accuracy of the hand of the manipulator becomes low.

On the other hand, the induction speed gain is set small so that the manipulator's hand can be guided at a low speed with a heavy operating force, and the speed limit value is also set small to finish the work requiring fine operation, and then at a high speed. When the manipulator is to be moved to the position, if only the speed limit value is set to a large value, the speed of the hand does not easily increase with respect to the operation amount of the operation lever, and work efficiency does not increase.

It is possible to properly set the induction speed gain and the speed limit value separately during the work or before the work so as not to be in the above state, but it takes time for the two kinds of setting work. If it takes time to switch from a high speed to a low speed such as a fitting operation, the hand of the manipulator may move largely from the target position, which may make the teaching work difficult.

An object of the present invention is to allow the operator's guidance operation feeling and the speed limit value to be changed at the same time in the work of guiding the hand of the manipulator and moving the handling manipulator. It is to realize a manual manipulator operation control device capable of improving work efficiency by simplifying both setting work.

Another object of the present invention is to realize an operation control device for a manual manipulator, which can freely change the operation mode within a safe range according to work.

[0015]

In order to achieve the above object, the present invention is configured as follows. In an operation control device for operating a manual manipulator, which has a work arm having three or more degrees of freedom and a wrist mechanism having one or more degrees of freedom and capable of attaching a work tool to its end, the operation of the work arm and the wrist mechanism is controlled. Operation means for instructing, storage means for storing a value for determining a predetermined plurality of moving speeds of the work arm and wrist mechanism, and a plurality of limit speeds respectively corresponding to the predetermined plurality of moving speeds, and a work arm and a wrist A moving speed selecting means for selecting one of a plurality of predetermined moving speeds of the mechanism, a limit speed value according to the moving speed selected by the moving speed selecting means, and a value for determining the moving speed are stored in the storing means. Take out from
The operation control means controls the operation of the work arm and the wrist mechanism based on the values for determining the extracted limit speed and the moving speed and the operation of the work arm and the wrist mechanism instructed by the operation means.

[0016] Preferably, in the operation control device for the manual manipulator, the operation means is movable, and when the operation means is located near the end of the work arm, the operation control means is stored in the storage means. Of the values that determine the plurality of movement speeds, the value that determines the low speed movement speed and the limit speed value that corresponds to this low speed movement speed are extracted, and the extracted movement speed determination value and the limit speed value and the operation The operation is controlled based on the operation of the work arm and the wrist mechanism instructed by the means. Further, preferably, in the operation control device for the manual manipulator, the plurality of moving speeds are three speeds of high speed, medium speed, and low speed.

Further, preferably, in the operation control device of the manual manipulator, the joint angle of the working arm is detected, and it is judged from the detected joint angle whether or not the end portion of the working arm is located in a predetermined low speed region. When the area discriminating means discriminates that the end portion of the work arm is located in the low speed area, the motion control means determines the plurality of moving speeds stored in the storage means. Of these, the value that determines the low-speed moving speed and the limit speed value that corresponds to this low-speed moving speed are extracted, and the extracted moving speed determination value and the limit speed value and the work arm and wrist that are instructed from the operating means are extracted. The operation is controlled based on the operation of the mechanism.

Further, preferably, in the operation control device for the manual manipulator, based on an image pickup means for picking up an image of the end portion of the work arm and an image of the work arm from the image pickup means, the end of the work arm falls in a predetermined low speed region. Area determination means for determining whether or not the part is located, and when the area determination means determines that the end of the work arm is located in the low speed area, the operation control means is stored in the storage means. Of the values that determine the plurality of movement speeds, the value that determines the low speed movement speed and the limit speed value that corresponds to this low speed movement speed are extracted, and the extracted movement speed determination value and the limit speed value and the operation The operation is controlled based on the operation of the work arm and the wrist mechanism instructed by the means.

Further, preferably, in the operation control device for the manual manipulator, when the operation instruction from the operation means is a movement in a direction in which the end portion of the work arm is separated from the work object, the operation control means is Of the values that determine the moving speeds stored in the storage means, the value that determines the moving speed of the high speed and the limit speed value that corresponds to this moving speed of the high speed are extracted and the determined moving speed value And the operation based on the limit speed value and the operation of the work arm and wrist mechanism instructed by the operating means.

In the manual manipulator operation control device according to the present invention, the limit speed and the value for determining the moving speed are switched at the same time. Therefore, even if the limit speed is changed, the work arm or the like is guided with a good operational feeling. Since it is possible to operate and it is not necessary to separately set the above-mentioned two types of parameters (moving speed and limit speed), it is possible to shorten the setting work time.

When the manipulator is placed at the end of the manipulator, a signal is sent to the manipulator controller to automatically switch from the high speed mode to the low speed mode. Therefore, the guiding operation is performed near the work object. However, it is possible to accurately guide at an acute angle without impairing the feeling of operation.

Further, when performing the guiding operation with the operating device positioned at the hand of the manipulator, if the guiding operation can be performed in the medium speed mode, the guiding can be performed at a higher speed than in the low speed mode. Work efficiency can be improved.

[0023]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The embodiment described below is an example in which the present invention is applied to an operation control device of a manual manipulator for construction work used for movement of an object gripped by a gripping device or the like, fitting work and stationary work (hereinafter , And manipulators for construction work).

FIG. 1 is a control block diagram of an operation control device for a construction manipulator according to a first embodiment of the present invention. This manual manipulator for construction work is an operating manipulator that is driven by the input of an operating device such as a lever.

In FIG. 1, a main manipulator for construction work 1 having a driver's seat has a work arm 2 having a plurality of degrees of freedom such as an arm, a boom and a swing, and one or more degrees of freedom such as a roll, a pitch and a yaw. The wrist mechanism section 3 is provided with a work tool 4 such as a gripping device 4a.

A drive device such as a hydraulic cylinder is provided on the work arm 2 and the wrist mechanism portion 3, and each joint portion has a function of operating within a predetermined range. An angle meter (not shown) is installed in each joint to detect the angle of each joint.
This angle is fed back to the speed calculator 14 in the control device 6.

The control device 6 is composed of control means such as a directional control valve for controlling a computer or an actuator or a proportional solenoid valve for controlling the directional control valve.
The computer has a calculation program for controlling the rotational speed of each joint (axis), and calculates the target angular velocity of each axis according to the direction and operation amount of the operating device 7.

The drive current corresponding to the target angular velocity is applied to the proportional solenoid valve inside the hydraulic controller 15, and the proportional solenoid valve is operated to control the actuator through the directional control valve. The operation device 7 has one or more operation levers having a six-axis force sensor capable of detecting operation forces in six directions, and inputs a guidance signal of the manipulator to the control device 6.

This signal is a signal of the operating force and the operating direction in the XYZ directions of the operating coordinate system 16 and the rotational directions around the respective axes which can be arbitrarily set, and is represented by an operation vector <F> of 6 axes. The gripping device 4a is generated by the signal from the operating device 7.
It is possible to horizontally and vertically move the object grasped in step S4 and change the posture of the grasping device 4a.

Further, the operating device 7 can be constructed as a portable device carried by the operator as required, and is a mobile installation type operating device 7a installed at the tip of the driver's seat or the working arm 2.
It can also be configured as a fixed installation.

The mode switching device (moving speed selection means) 8 supplies a signal indicating the selected mode to a mode switching switch 9 provided in front of the input conversion section 13. By switching the changeover switch 9, switching between a plurality of modes such as a high speed mode and a low speed mode is realized. The mode switching device 8 is composed of a button, a toggle switch, or the like, and the mode is switched by a manual operation of the operator.

Next, the internal structure of the control device 6 will be described. In the mode parameter setting unit 10, a limit speed and an operation gain (a value that determines the moving speed) are stored in the limit speed storage unit 11 and the operation gain storage unit 12 as a pair, and a plurality of types of limit speeds are stored. And the combination of the operation gain and the operation gain are stored. By the mode changeover switch 9, the contents stored in the pair of the upper limit speed Vmax storage unit 11 and the operation gain K storage unit 12 corresponding to the mode are simultaneously sent to the input conversion unit 13.

The operation gain K from the mode parameter setting unit 10 is supplied to the multiplication unit 132 via the switch 9. Further, the upper limit speed Vmax from the mode parameter setting unit 10 is supplied to the input terminal of the switch 134.

The upper limit speed Vmax from the mode parameter setting unit 10 is supplied to the lower target value calculation unit 131,
The lower target value <Vmin> is calculated, and the calculated lower target value <Vmin> is supplied to the comparison unit 133.
It is supplied to the input terminal of the switch 134. The guidance signal <F> from the operation device 7 is applied to the multiplication unit 132 of the input conversion unit 13.
Is input to The multiplication unit 132 multiplies the operation gain K from the mode parameter setting unit 10 by the guidance signal <F> to calculate the target speed vector <V>. Then, the calculated target speed vector <V> is supplied to the input terminal of the switch 134 and the comparison unit 133.

The upper limit speed vector <Vmax> is supplied from the mode parameter setting unit 10 to the comparison unit 133, and the upper limit speed vector <Vmax> is compared with the target speed vector <V>. When <Vmax> is smaller than <V>(<Vmax><<<V>),<V> = <Vmax
>, A switching command signal is supplied to the selection switch 134 so as to select <Vmax> as the target velocity vector.

<Vmax> is larger than <V>(<Vmax
>>><V>, the target velocity vector <V> is compared with the lower target value <Vmin>, and <V> is smaller than <Vmin>(<Vmin>
Vmin >><V>), select switch 134 so that <V> = <Vmin> is selected as the target speed vector.
And a switching command signal is supplied.

In other cases, a switching command signal is supplied to the selection switch 134 so that the target speed vector <V> from the multiplier 132 is selected, and the target speed vector <V> = K <F> is directly targeted. Output as a velocity vector.

These output values <V> are output to the switch 134.
Is sent to the speed calculator 14. In the speed calculator 14, the difference between the angle deviations of the goniometer 5 is converted into a speed vector <Va> based on the coordinate system 16 and <V>.
Are compared, and the velocity vector <ΔV> is calculated.

Next, the calculated velocity vector <ΔV
> And the Jacobi inverse matrix J ⁻¹ are multiplied to calculate the target angular velocity <θn> for each axis. Calculated target angular velocity <
θn> is converted into a signal for driving the hydraulic controller 15 and supplied to the hydraulic controller 15. Hydraulic controller 1
Reference numeral 5 includes a direction switching valve that drives a hydraulic actuator such as a hydraulic cylinder that drives each rotating shaft of the manipulator, and a proportional solenoid valve that controls a pilot pressure for switching the flow rate and direction.

In the case of the present embodiment, the signal from the speed calculator 14 is sent to the proportional solenoid valve.

FIG. 2 is a schematic configuration diagram showing an example of the hydraulic circuit of the hydraulic controller 15, and is a diagram showing an example of operating one of the plurality of hydraulic actuators.
In FIG. 2, a hydraulic pump 50 is a pump for supplying oil to a hydraulic cylinder 55 that is a hydraulic actuator that drives each joint. The flow rate of oil supplied to the hydraulic cylinder 55 is controlled by the direction switching valve 54.

The direction switching valve 54 is provided in the pilot section 5
4R and 54L, the valve opening of the direction switching valve 54 is changed by the hydraulic pressure acting on it, and the flow rate supplied to the hydraulic cylinder 55 is determined. Proportional solenoid valves 56 and 57 for changing the valve opening are shown.

The proportional solenoid valves 56 and 57 change the oil pressure from the pilot pump 51 while changing the oil pressure from the pilot portion 5.
Hydraulic pressure is supplied to each of 4R and 54L. The proportional solenoid valves 56 and 57 are connected to the control device 6 via a signal line 58, and a current for changing the hydraulic pressure is supplied from the control device 6.

Reference numeral 53 is a tank for storing the supplied oil and the returned oil. Further, the prime mover 52 is the hydraulic pump 5
0 and the pilot pump 51 are driven. The hydraulic controller 15 shown in FIG. 2 controls the operation of the hydraulic cylinder 55, which is a hydraulic actuator, and the working arm 2 is operated.

Next, FIGS. 3 and 4 show the relationship between the target speed V and the operating force F when the mode is switched. Normally, the velocity vector <V> and the operation vector <F> are used, but a certain one-way scalar value is used for simplifying the description. In this example, the mode change switch 9 is configured so as to be able to switch between two types of modes, a low speed mode and a high speed mode.

First, when the low speed mode is selected, the change-over switch 9 is switched so as to select a pair of parameter storage sections of the maximum speed limit value VLmax and the operation gain KL stored in the mode parameter setting section 10 in advance. , Are input to the input conversion unit 13. As a result, FIG.
Narrow speed limits (VLmax and VLmi
n) and the operation gain KL is small, the work arm 2 and the like are moved at a slow speed change with respect to the operation force.

Next, when the high speed mode is selected, the changeover switch 9 is selected so as to select the pair of parameter storage units in which the maximum speed limit value VHmax and the operation gain KH are stored.
Are switched and input to the input conversion unit 13. As a result, a wide range of speed limits (VH
max and VHmin) and the operation gain KH is large, the work arm 2 and the like are moved at a rapid speed change with respect to the operation force.

Next, an operation example when the present invention is applied to the handling work of the handling manipulator will be described with reference to FIGS. 5 and 6. FIG. 5 shows a work in which the operating device 7a is installed on the tip portion of the working arm 2 of the handling manipulator, and the operation target 7 is guided by the operator operating the operating device 7a, and the work object 21 is installed between the shelves 20. In the case of this work, a fine operation is required to guide the object 21 so as not to collide with the shelf 20. Therefore, the mode of the mode switching device 8 is switched to the low speed mode and a fine operation is performed.

On the contrary, as shown in FIG. 6, when the object 20 installed on the shelf 20 is taken out of the shelf 21 and retracted, it is desired to move the object 20 at high speed, so the mode of the mode switching device 8 is switched to the high speed mode. , Guide the object at high speed. At this time, the working device 7a attached to the tip of the working arm 2 is not used, but is operated from the driver's seat or a position away from the work target. This is because the work arm 2 operates at high speed, and thus the operator may not be able to operate the operating device 7a accurately.

When performing the above work, there is also a method of automatically switching the mode of the operating device 7a. That is,
The operating device 7a, when attached to the distal end portion of the work arm 2, transmits a switching signal at the same time and automatically switches the mode changeover switch 9 inside the control device 6 from the high speed mode to the low speed mode.

Further, a medium speed mode is added between the low speed mode and the high speed mode so that the operator can operate the operating device 7a in the vicinity of the work target and can easily operate the limit speed and the operation gain. It can also be guided by. When the operating device 7a is removed from the tip of the work arm 2, the mode changeover switch 9 of the control device 6 determines that the operating device 7a has been removed, and automatically switches from the low speed mode or the medium speed mode to the high speed mode. .

The changeover signal supplied from the operating device 7a to the mode changeover switch 9 may be a current value or a voltage value, or may be a digital signal of 0 or 1. Further, the operation means for selecting the medium speed mode may be configured such that a button or a toggle switch is provided on the main body of the operation device 7a and the medium speed mode is set only while the switch is pressed.

As described above, according to the first embodiment of the present invention, a plurality of types of speed gains and speed limit values having a pair of speed gains and speed limit values corresponding to the speed gains are set as mode parameters. Since a plurality of types of speed gains and speed limit values are simultaneously selected by the operator's operation and stored in the setting unit 10 and the operation is executed in accordance with them, complicated guide speed gains and speed limit values It is possible to realize a manual manipulator operation control device capable of improving work efficiency by simplifying both setting operations.

FIG. 7 is a control block diagram of the operation control device of the construction manipulator according to the second embodiment of the present invention. In the case of the example shown in FIG. 7, an angle signal from each joint angle is supplied from the goniometer 5, and the end portion of the work arm 2 is located at a predetermined low speed region from the supplied angle. An area determination unit 17 is added to determine whether the vehicle is located in a high speed area or the like, and switch the mode changeover switch 9 according to the determined area.

The area discriminating unit 17 automatically selects an appropriate speed and speed gain without the operator having to command speed switching such as low speed and high speed. However, in this case, after the mode changeover switch 9 is automatically changed over by the area discrimination unit 17, the mode changeover device 8 is used to
It is possible for the operator to switch the modes at appropriate times.

As described above, according to the second embodiment of the present invention, a plurality of types of speed gains and speed limit values having a pair of speed gains and speed limit values corresponding to the speed gains are set as mode parameters. It is possible to simultaneously select a plurality of types of speed gains and speed limit values that are stored in the setting unit 10 and are automatically selected in accordance with a predetermined low speed region, high speed region, and the like, and perform operations accordingly. Since the speed gain and the speed limit value can be simultaneously selected depending on the operation of the operator as necessary, the complicated setting work for both the induction speed gain and the speed limit value is simplified, and further, An operation control device for a manual manipulator capable of improving work efficiency can be realized.

FIG. 8 is a control block diagram of an operation control device for a construction manipulator according to a third embodiment of the present invention. In the case of the example shown in FIG. 8, the image pickup means 18 is set at an appropriate position of the wrist mechanism 3 or the like, and the image picked up by the image pickup means 18 is used as the area discriminating section 17.
Is supplied to. Then, based on the image from the image pickup means 18, the area discriminating unit 17 discriminates whether the end portion of the work arm 2 is located in a predetermined low speed area, a high speed area or the like. A region discriminating unit 17 for switching the mode changeover switch 9 according to the discriminated region is added.

The area discriminating unit 17 automatically selects an appropriate speed and speed gain without the operator having to instruct speed switching such as low speed and high speed. However, in this case, similarly to the example of FIG. 7, after the mode changeover switch 9 is automatically changed over by the area discrimination unit 17, the mode changeover device 8 is used to allow the operator to change over the mode in a timely manner. It is possible. Also in the third embodiment of the present invention described above, the same effect as in the second embodiment can be obtained.

In the above-described embodiment, only three types of modes (high speed, medium speed, low speed) are used, but it is also possible to provide a plurality of other modes.

Further, in the above-mentioned embodiment, the handling manipulator for the construction work is targeted.
It can also be applied to a case where other work tools are attached to the tip of the wrist mechanism 3 to perform other work. For example, a drill can be attached to the tip of the wrist mechanism 3 and applied to work such as making a hole in the ground or a wall.

Further, in the above-mentioned embodiment, the operating lever constituted by the force sensor capable of detecting the 6-axis force is used as the operating device, but it can be realized by other operating means such as a joystick.

[0062]

Since the present invention is constructed as described above, it has the following effects. A plurality of types of speed gains (values that determine the moving speed) and a speed limit value are stored in a storage unit, and an appropriate speed among the plurality of types of speed gains and speed limit values is automatically or automatically operated by the operator. The gain and speed limit value are selected at the same time, and the operation is executed according to the selection. Therefore, it is possible to simplify the complicated work of setting both the induction speed gain and the speed limit value and improve the work efficiency. An operation control device for a manipulator can be realized.

Further, the manipulator guiding operation can be efficiently performed according to the work without impairing the operation stroke of the operator, that is, with a good operation feeling.

[Brief description of drawings]

FIG. 1 is a control block diagram of a manual manipulator operation control device for construction work according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an example of a hydraulic circuit of a hydraulic controller in the example of FIG.

FIG. 3 is a diagram showing a relationship between a target speed V and an operating force F when switching to a low speed mode.

FIG. 4 is a diagram showing a relationship between a target speed V and an operating force F when switching to a high speed mode.

FIG. 5 is an explanatory diagram when the manual manipulator for construction work is actually used for handling work.

FIG. 6 is an explanatory diagram when the manual manipulator for construction work is actually used for handling work.

FIG. 7 is a control block diagram of a manual manipulator operation control device for construction work according to a second embodiment of the present invention.

FIG. 8 is a control block diagram of a manual manipulator operation control device for construction work according to a third embodiment of the present invention.

[Explanation of symbols]

1 Manual Manipulator Main Body for Construction Work 2 Work Arm 3 Wrist Mechanism 4 Work Tool 4a Grip Device 5 Angle Meter 6 Control Device 7 Operating Device 8 Mode Switching Device 10 Mode Parameter Setting Unit 11 Limit Speed Memory Unit 12 Operation Gain Memory Unit 13 Input Conversion Section 14 speed calculation section 15 hydraulic controller 17 area discrimination section 18 imaging means 131 lower target value calculation section 132 multiplier 133 comparison section 134 switch

Claims (6)

[Claims] 1. An operation control device for operating a manual manipulator, comprising: a work arm having three or more degrees of freedom; and a wrist mechanism having one or more degrees of freedom and having a work tool attached to an end thereof. And operating means for instructing the operation of the wrist mechanism, values for determining a predetermined plurality of moving speeds of the work arm and wrist mechanism, and a plurality of limit speeds respectively corresponding to the predetermined plurality of moving speeds. Storage means, moving speed selecting means for selecting one of the predetermined plurality of moving speeds of the working arm and wrist mechanism, and a limit speed value according to the moving speed selected by the moving speed selecting means. , A value for determining the moving speed is retrieved from the storage means, and is based on the value for determining the limit speed and the moving speed that have been taken out and the operation of the working arm and the wrist mechanism instructed by the operating means. The operation control device for manual manipulator, characterized in that it comprises, an operation control means for controlling the operation of the working arm and wrist mechanism. 2. The operation control device for a manual manipulator according to claim 1, wherein the operation means is movable, and when the operation means is located near an end portion of the working arm, the operation control means: Of the plurality of values for determining the moving speed stored in the storage means, a value for determining the low moving speed and a limit speed value corresponding to the low moving speed are taken out, and the fetched moving speed is determined. An operation control device for a manual manipulator, wherein the operation is controlled based on a value and a limit speed value and an operation of the work arm and wrist mechanism instructed by the operation means. 3. The operation control device for a manual manipulator according to claim 1, wherein the plurality of moving speeds are three speeds of high speed, middle speed, and low speed. . 4. The operation control device for a manual manipulator according to claim 1, wherein the joint angle of the working arm is detected, and whether or not the end portion of the working arm is located in a predetermined low speed region from the detected joint angle. Area determination means for determining
Further, when the area determination means determines that the end portion of the work arm is located in the low speed area, the operation control means determines whether the movement speed stored in the storage means is one of the low values. A value that determines the moving speed of the speed,
The limit speed value corresponding to the low moving speed is taken out, and the operation is controlled based on the extracted moving speed determination value and the limit speed value and the operation of the working arm and wrist mechanism instructed from the operating means. An operation control device for a manual manipulator characterized by: 5. The operation control device for a manual manipulator according to claim 1, wherein an image pickup means for picking up an image of the end of the work arm and an image of the work arm from the image pickup means
Area determination means for determining whether or not the end of the working arm is located in a predetermined low speed area is further provided, and when the area determination means determines that the end of the work arm is located in the low speed area, The operation control means retrieves a value that determines a low moving speed and a limit speed value that corresponds to the low moving speed from among the values that determine the moving speeds stored in the storage means. An operation control device for a manual manipulator, characterized in that the operation is controlled based on the determined moving speed determination value and the limit speed value and the operation of the work arm and wrist mechanism instructed by the operating means. 6. The operation control device for a manual manipulator according to claim 1, wherein when the operation instruction from the operation means is a movement in a direction in which the end portion of the work arm is separated from the work target, the operation is performed. The control means retrieves a value that determines a high-speed moving speed and a limit speed value that corresponds to the high-speed moving speed from the values that determine the plurality of moving speeds stored in the storage means, and retrieves the value. An operation control device for a manual manipulator, characterized in that the operation is controlled on the basis of the moving speed determination value and the limit speed value and the operation of the working arm and wrist mechanism instructed by the operating means.