JPS58217284A - Control of manipulator - Google Patents
Control of manipulatorInfo
- Publication number
- JPS58217284A JPS58217284A JP9839782A JP9839782A JPS58217284A JP S58217284 A JPS58217284 A JP S58217284A JP 9839782 A JP9839782 A JP 9839782A JP 9839782 A JP9839782 A JP 9839782A JP S58217284 A JPS58217284 A JP S58217284A
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- target point
- image
- effector
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、マニピュレータの効果器（マニピュレータの
指先）を、視覚で捉えた目標点に到達さけるためのマニ
ピュレータの制御方法に関り−る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a manipulator for causing the effector (fingertip of the manipulator) of the manipulator to reach a visually perceived target point.
従来、例えば、原子炉用のマニュアル・マニピュレータ
において、原子炉の所望の場所の放則能、温度、振動等
を検出づる目的で、センサを支持し／、： ’Ａノ果器
を前記場所に到達さける場合等のように、マユ１アル・
マニビ、：Ｌレークの効ｚＬ ？：Ｉをある１ｔｊｊ点
に到達さける場合、操作者は、ン二ビ」レークに取り（
＝Ｊ（〕られたテレビカメラｒ ［−１標点ａ３よび効
果器の像を捉え、ディスプレイ装置上に写し１」１され
るその映像にＪ−り、終始、両省の位置関係を確認しな
がら、マニピュレータを操作して、効果器を目標点に到
達ざμｍでいた。Conventionally, for example, in a manual manipulator for a nuclear reactor, a sensor is supported for the purpose of detecting radiation power, temperature, vibration, etc. at a desired location of a nuclear reactor. Mayu 1Al, as in the case of avoiding reaching
Manibi, :L Lake's effect zL? :When I is to avoid reaching a certain point, the operator takes the
=J()The TV camera r [-1] caught the image of the gauging mark A3 and the effector, and watched the image projected onto the display device, checking the positional relationship between the two ministries from start to finish. By operating the manipulator, the effector was able to reach the target point within micrometers.
しかし、このような作業は容易ではなく、操作者は非常
に神経を使って作業を行わなければならず、作業能率も
悪いという欠点があった。However, such work is not easy, and the operator has to perform the work with great care, resulting in poor work efficiency.
また、従来操作者が行つ−Ｃいた土）本のＪ、うな作業
をそのまま１大械に行わせることにより、づべての作業
を自動化しようとすると、非常に複層１な制御が必要に
なる。In addition, if you try to automate all the work by having one machine do the same work that conventional operators would do, you will need extremely multi-layered control. become.
本発明は、このような事情にＳ監みてなされたしので、
非常に単純化されｌζ手順にＪ、す、視覚で捉え１ｃ目
標点に、効果器を到達さけることができ、マニュアル・
マニピュレータに適用した場合には、操作者の作業を非
常に容易にし、オー１〜・マニピュレータに適用した場
合には、その制御を中純化することかできるマニピュレ
ータの制御方法を提供づることを目的と３−る。The present invention was made under the supervision of S under these circumstances.
The procedure is very simplified and allows the effector to reach the target point visually and manually.
The purpose of the present invention is to provide a manipulator control method that greatly facilitates the operator's work when applied to a manipulator, and which can simplify the control when applied to an O-manipulator. Ru.
このよう＜ｋ目的を遠戚づる本発明によるマニピュレー
タの制御方法は、マニピュレータの効果器を到達さμる
べさ目標点の像を踊１に＋手段ひ捉え、次に、この状態
にあける同撤像手段の前記マニピ」レータに対りる位置
ｄ５よび角度に基づいて、同踊像手段ど前記目標点とを
結ぶ面線経路を求め、しかる後に、前記効果器を前記直
線経路に沿って移動させることにより、前記効果器を前
記目標点に到達さＵるものである。The control method of the manipulator according to the present invention, which is distantly related to the objective, is to capture the image of the target point to be reached by the effector of the manipulator, and then to move Based on the position d5 and angle of the image removal means with respect to the manipulator, a surface line path connecting the image removal means with the target point is determined, and then the effector is moved along the straight line path. By moving the effector, the effector reaches the target point.
以下、本発明を図面に示す実施例に基づいてさらに詳細
に説明Ｊる。Hereinafter, the present invention will be explained in more detail based on embodiments shown in the drawings.
第１図は本発明をマニュアル・マニビル−クの制御に適
用しＩζ実施例を示づ。１はマニピュレータ、２はマニ
ビーｔレータ１の腕部、３は腕部２の先りν１）部に設
りられた効果器、４はマニピュレータ１に取り（ｌりら
れたデレビツノメラ（このテレビカメラか、木実茄例に
おいて撮像手段を構成する）、５は一ノニビュレータ１
側に設けられたリモート・コンピュータ、６は操作者側
に設（）られｌこローカル・コンビ１−夕、７は操作盤
、ε３（，１デイスプレイ装置である。FIG. 1 shows an Iζ embodiment in which the present invention is applied to the control of a manual manibuilke. 1 is a manipulator, 2 is an arm of the manipulator 1, 3 is an effect device installed at the tip of the arm 2 (ν1), and 4 is an effect device installed on the manipulator 1 (this TV camera). , constituting an imaging means in the case of a nutmeg), 5 is one nonibulator 1
A remote computer 6 is installed on the operator's side, a local combination 1-1 is installed on the operator's side, 7 is an operation panel, and ε3 is a display device.
前記ローカル・コンビ」−タ（３は、′操作者にＪ−る
操作盤７の操作を受ｔＪ’ ｆ４（Ｊ、り七−１〜、・
二］ンビュータ５を介しＣマニピ」レータ１に伝達りる
ようになっている。また、前記リモー１〜・コンビコー
タ５は、テレビカメラ４、マニピュレータ１の本体部′
、腕部２の各関節ａ５よひ効果器３の位置および角度を
高速にデータとし−Ｃ取り入れるようになっている。ま
た、テレビカメラ４ ’ｕ” １足えられた被写体の像
は、リモート・コンビ】−タ５ Ａ３よびローカル・コ
ンビコータ６を介し−Ｃディスプレイ装置８の画面８ａ
上に映し出されるように４１つ一〇いる。The local controller 3 receives the operation of the operation panel 7 from the operator.
2) is transmitted to the C manipulator 1 via the converter 5. In addition, the remote control 1 to the combination coater 5 are connected to the television camera 4 and the main body of the manipulator 1.
, the position and angle of each joint a5 of the arm 2 and the effector 3 are taken in as data at high speed. In addition, the image of the subject captured by the television camera 4'u'' is transmitted to the screen 8a of the display device 8 via the remote combination coater 5A3 and the local combination coater 6.
There are 41 and 10 as shown above.
さて、いよ第１図において、目標点Ｏに効果器３を到達
さぜたい場合、操作者は、」、−ツ゛、操作盤７を通じ
てテレビカメラ４を動かし、同カメラ４により目標点Ｏ
の像を捉え、第２図のように前記目標点０の映像がディ
スプレイ装置８の画ｉｆｉ＋ ８ ａの中心に位置づる
ようにＪる。リ−るど、このときのテレビカメラ４の位
置Ｊ３よび角り印はリモー１−・〕ンビーＩ−夕５に把
握され（いるのＣ′、プレピノＪメラ４ど目標点Ｏとの
距離は分らなくてし、プレじカメラ４ど目標点Ｏどを結
ふ直線経路Ａ １．Ｌ ｆＱ出可能となる。Now, in FIG. 1, when the operator wants to reach the target point O, the operator moves the television camera 4 through the operation panel 7, and uses the same camera 4 to reach the target point O.
The image of the target point 0 is captured and moved so that the image of the target point 0 is located at the center of the image ifi+8a of the display device 8 as shown in FIG. At this time, the position J3 and the corner mark of the television camera 4 are grasped by the remote control 1, the remote control 1, the TV camera 4, and the distance to the target point O. If you do not know, it is possible to output a straight path A1.L fQ connecting the preset camera 4 and the target point O.
そこ（、操作者は、前記のように目標点Ｏの映像を画面
８ａの中心に位置させる作業を終了したならば、操作盤
７を通じて、その旨をローカル・コンビコーク６にイ云
える。すると、ローカル・］コンビコークは、前記直線
経路Ａを算出し、かつリモー１〜・コンビコ−−９５Ｊ
５よひマニピュレータ１を介して、従来公知のＣＰ副制
御 Ｃｏｎｔｉｎｕｏｕｓｐａｉｌ）Ｃｏｎｔｒｏｌ）
により、効果器３を同経路Ａに沿って、目標点Ｏに接近
Ｊ−る方向に移動さく！る。(Once the operator has finished positioning the image of the target point O at the center of the screen 8a as described above, he can tell the local combination coke 6 to that effect via the operation panel 7. , local] CombiCoke calculates the straight line path A, and remote 1 to CombiCoke 95J.
5. Via the manipulator 1, the conventionally known CP sub-control
, the effector 3 is moved along the same path A in a direction approaching the target point O! Ru.
これにより、効果器３は、遅かれ早かれ目標点Ｏに到達
される（効果器３が目標点Ｏに到達覆る時点は、例えば
、効果器３にセン１すを設け、同センリに検出さけるこ
とができる）。したがって、操作者が行う士な仕事は、
目標点Ｏの映像をディスプレイ装置８の画面８ａの中心
に位置さｌるイ′１業のみとなるので、操作者のニー４
担は大幅に４！′ｉはされる。As a result, the effector 3 will reach the target point O sooner or later. can). Therefore, the professional work performed by the operator is
Since the image of the target point O is positioned at the center of the screen 8a of the display device 8, the operator's knee 4 is
The number of responsibilities is significantly 4! 'i is done.
なお、前記実施例では、Ｖ」線経路式を麿１ ｉ、１１
！Ｉる際、１」標点Ｏの映像をデ、ｒスプレィ’Ａｔ賢
３の両面８ａの中心に位置さけ“ているが、必すシもこ
のようにする必要はな（、例えば、目標点Ｏの映１象が
前記画面８ＸＩ上の任意の位置に１１ｔえられたとさ、
その目標点Ｏの映像をライトペンで指示して、同映像の
画面８５］上に、１５【プる位置をローカル・二１ンビ
１−夕６に入力覆ることにより、同コンビｈ、 −り６
に直線経路Ａを算出させてもよい。In addition, in the above embodiment, the V'' line route equation is
! 1. When setting the target point, the image of the target point O is positioned at the center of both sides 8a of the spray 3, but it is not necessary to do so (for example, when Suppose that the image of O is placed at an arbitrary position on the screen 8XI,
Indicate the image of the target point O with a light pen, and input the 15 [pull position on the screen 85] of the same image to the local 21 display 1-6. 6
Alternatively, the straight path A may be calculated.
また、前記実施例では、撮像手段として、テレビカメラ
を使用し°Ｃいるが、本発明にｄノいＣは、他の種の１
最像手段を用いてもよい。In addition, in the above embodiment, a television camera is used as the imaging means, but the present invention does not include the use of other types of cameras.
Imaging means may also be used.
また、搬像手段で捉える目標点の像は、必ずしも目標点
から到来する可視光に基づく像でなくてもよく、例えば
゛、目標点から到１来りる赤外線（こ阜づく温度分布像
であってもよいくしたかつて、本明用書に言う視覚とは
、可視光に基づくちのに限られない〉。Furthermore, the image of the target point captured by the image carrier does not necessarily have to be an image based on visible light arriving from the target point; The sense of vision referred to in this text is not limited to that based on visible light.
また、前記実施例では、７−レヒｊノメラ４をマニピュ
レータ１に取すイ」す′Ｃいるが、本発明においでは、
ン二ビコレータと撮像手段との位置関係が分るにうにな
ってさえいれば、撮１象手段をマニピュレータと分離設
置してもよい。In addition, in the embodiment described above, there is a step to take the 7-receiver 4 to the manipulator 1, but in the present invention,
The image capturing means may be installed separately from the manipulator as long as the positional relationship between the image capturing means and the image capturing means is known.
また、前記実施例において操作者が行った作業、または
それと同等の作業は、容易に、自動化り−ることかでき
る（例えば、面像手段で目標点の丙をｊｘえる作業は、
あらかじめ記憶装置に記憶さ１．！【Ｊ５いた目標点の
像と撮像手段で捉えられた像とを比較さＶたり、目標点
を光らば、撮像手段か一定以上の光示で光る被写体を捉
えたときに目標点を捉えたものと覆る等により、容易に
自動化でさる）。したがつで、本発明は、オー１〜・マ
ニビ」レークにし通用でさ″、かつその場合、装置の制
御を単純化することがでさ・る。Further, the work performed by the operator in the above embodiment, or the work equivalent thereto, can be easily automated (for example, the work of calculating the target point C with the surface image means,
Stored in the storage device in advance 1. ! [J5 Compare the image of the target point with the image captured by the imaging means. (This can be easily automated by overlapping, etc.) Therefore, the present invention is applicable to all types of lakes, in which case the control of the device can be simplified.
以上のように本発明によるマニピュレータの制御り法は
、非常に！４！純化された手順により、効果器を視覚℃
゛捉えた目標点に到達ざＶることができ、マ三ユアル・
マニピュレータに通用した場合には、操作者の作ΣＩ″
、を非常に容易にし、副−１−・マニビーＪレータに適
用した場合に３は、ぞの制り１１を中細化することかで
きるという（夏れ）こ効果をｔｒｚられる乙の−（ある
９゜As described above, the manipulator control method according to the present invention is very effective! 4! Visual effects device with purified procedures
゛You can reach the target point that you have captured, and you can
If it is applicable to a manipulator, the operator's work ΣI''
, and when applied to sub-1-/manibee J rater, 3 can reduce the size of the system 11 to a medium-sized (summer) effect. A certain 9°
第１図は本発明によるマニビール−クの制御ジノ法の一
実施例におけるマニピュレータｉ１５よひその制御２１
１システムを示Ｊブ「１ツク図、第２図は前記実施例に
おいて目標点の映像をディスプレイ装置の画面の中心に
（Ｑ置さヒた状態を示ザ正面図Ｃある。
１・・・マニピュレータ、３・・・効果器、４・・・デ
レヒカメシ、５・・・リモー１へ・］ンピューク、Ｏ・
・・［１−ノノル・コンピュータ、７・・・操作盤、８
・・・ティスプレ１′装置。
く）
第２図FIG. 1 shows the control 21 of the manipulator i15 in an embodiment of the control method of the manibe-arch according to the present invention.
Figure 2 shows the front view of the system in which the image of the target point is placed in the center of the screen of the display device in the above embodiment. Manipulator, 3...Effect device, 4...Derehikameshi, 5...To remote 1] Npuku, O.
...[1-Nonol computer, 7...operation panel, 8
...Display 1' device. h) Figure 2
Claims (1)
を撮像手段で捉え、次に、この状態における同保像手段
の前記マニピュレータに対する位置ａ３よび角度に基づ
いて、同撮像手段と前記目標点とを結ぶ直線経路を求め
、しかる後に、［）０記効果器を前記直線経路に沿って
移動ざゼることにより、前記効果器を前記［Ｅ１標点に
到達さけ−ることを特徴と覆るマニピュレータの制御方
法。-l- An image of the target point to be reached by the effector of the bulator is captured by the imaging means, and then, based on the position a3 and angle of the image retention means with respect to the manipulator in this state, the imaging means and the target point are Find a straight line path connecting them, and then move the effector [)0 along the straight line path to move the effector to the [E1 landmark]. How to control the manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9839782A JPS58217284A (en) | 1982-06-10 | 1982-06-10 | Control of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9839782A JPS58217284A (en) | 1982-06-10 | 1982-06-10 | Control of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58217284A true JPS58217284A (en) | 1983-12-17 |
| JPS6341718B2 JPS6341718B2 (en) | 1988-08-18 |
Family
ID=14218698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9839782A Granted JPS58217284A (en) | 1982-06-10 | 1982-06-10 | Control of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58217284A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60217084A (en) * | 1984-04-11 | 1985-10-30 | 株式会社クボタ | Robot hand with visual device |
| JPS6176291A (en) * | 1984-09-20 | 1986-04-18 | 株式会社小松製作所 | Method of controlling robot with visual sensor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
-
1982
- 1982-06-10 JP JP9839782A patent/JPS58217284A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60217084A (en) * | 1984-04-11 | 1985-10-30 | 株式会社クボタ | Robot hand with visual device |
| JPS6176291A (en) * | 1984-09-20 | 1986-04-18 | 株式会社小松製作所 | Method of controlling robot with visual sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6341718B2 (en) | 1988-08-18 |
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