JPS5894980A - Manipulator device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a remote control manipulator, and more particularly, to a manipulator device that is operated based on visual information obtained through a television camera.

Technical Background of the Invention and Points of Interest In recent years, with the spread of nuclear power generation, facilities for processing spent nuclear fuel or radioactive waste have become necessary. Due to the high level of radioactivity in the nuclear material processing geological formations, it is difficult for humans to carry out work, and maintenance of the facility's in-house equipment must be done remotely using manipulators. Additionally, in the Makoki Power Development Plan, there was an attempt to make inspections inside the containment vessel and the primary water drainage piping system, and to perform delayed operations such as opening and closing valves, with the aim of reducing radioactivity exposure to workers. It is starting to take shape. Under these circumstances, the importance of remote control technology has been increasing more and more in recent years. In particular, manipulators that perform the functions of human cows have come to be required to have high performance and good hfl properties.

Conventionally, the operation methods of this type of manipulator can be broadly classified into the following three methods, and the general method has been used.

The first method is to link the slave arm that actually performs the work with a master arm that is the same or similar in the shape of &(I'J'4), and the operator attaches a This is a method called the master-slave method in which the slave arm is operated by holding the handle and making the necessary movements.

With this method, the slave arm can be operated at a high angle of 8 degrees, so it is difficult to perform tasks that require high axial force. However, there is a drawback that it does not require access to the internet for long periods of operation.

The M20 method is a method in which each joint of the Mayupilator is operated using a multi-degree-of-freedom control frame rc j in which the creation of each joint of the Mayupilator is assigned to one other degree of freedom.

Although this method is simpler than other methods, the operating direction of the Mayu Peelator in the working space and the operating direction of the security rod do not correspond, and it takes a long time for the operator to heat up.
Moreover, it has the disadvantage that detailed work requires an inner arc.

Like the second method, the jJ, 30 method uses a multi-degree-of-freedom hk culm, but in order to match the operating direction of the hk culm with that of the manipulator, a computer is inserted 8 and the commands input into the control frame are This method calculates the values, determines the operating speed of each joint of the manipulator, and moves the manipulator in the commanded direction.

(b) Method U utilizes the sense of direction and distance of one operator, so operation is relatively easy and cooperative work is possible; In order to celebrate the mountain festival,
Computers were required to have high performance and fast calculation speed, but they had the drawback of being extremely expensive.

Purpose of the Invention The present invention has been made in view of the above circumstances, and provides a manipulator for remote control that has good operability, allows detailed work, minimizes the physical movement of the operator during operation, and is inexpensive. The purpose is to provide equipment.

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, the present invention includes a manipulator having one end attached to a base so as to be freely swingable, and an upper arm portion formed to be rotatable in the direction of twisting the shaft; A forearm that is swingably supported on the end side and rotates in the direction of twisting the shaft; a wrist that is swingably supported on the free end of the forearm; and a wrist that is swingably supported on the free end of the forearm, and a It is supported freely and has details for grasping the object, and the details have degrees of freedom with respect to the three coordinate axes and freedom of movement in the desired direction, and each movable part KFi of 8ijiic is provided.
The counter is equipped with a drive device that drives parts 1, 1, and 1 in response to input signals, and a detector that detects the rotation angle t of each movable part and generates a signal. a control frame equipped with a detector that generates an output corresponding to the rotation angle of each coordinate axis, a limb setter that sets the unit movement width of the manibilator, and a control frame that sets each rotation angle of the cutting control stick. Control each axis by comparing the rotation angle output of the corresponding coordinate axes on the side of the manibilator as a reference and using the difference outputs for the three-seater axis L! a control means for determining the direction of movement k JM with reference to the side of the manipulator; the moving direction tsN, the respective detector outputs of the manipulator and 1l
Based on the information on the unit movement width set in the J8L8 foot device, move the unit movement width in the MiJ distribution force movement direction using the direction of the tip of the side part and the rotation axis direction of the wrist part as the reference direction. means for determining the rotation angle of each of the three coordinate axes obtained when the information is moved in the reference movement direction;
Comparing the corresponding detector outputs of the movable parts corresponding to each of the three coordinate axes in C, and using the difference output as each detailed control amount to drive the movable parts, By operating the &vertical rod, the angle information of the three coordinate axes corresponding to the orientation of the control frame is generated, and the orientation of the side part is controlled based on this, and the orientation of the side part and the top of the manipulator are controlled. , based on the rotation angle information of each movable part of the forearm, the movement direction instruction information of the manipulator, and the unit movement width information,
Determining the rotation angle that each movable part should take when the unit movement width is moved in the indicated direction, and controlling the rotation angle of each movable part based on this, The manipulator can be easily operated by simply controlling the direction of the manipulator, instructing the direction of movement, and setting the unit movement width.

Embodiment of the Invention Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

Figure 1 is a perspective view showing the general configuration of the main unit, and Figures 2 and 2 are block diagrams showing the circuit configuration of the unit. In the figure, 1 is a manipulator, and 2 is a The side that grabs the object that is held, 3 is the hand, 4i; i upper arm, 5F
It's an i-arm. The upper arm 4 is at a angle θ1 from the support JaK axis 1bK.
The upper arm 4 is configured to be rotatable in the θ direction around the axial center of the upper arm 4. Further, a shaft 4a is provided on the free end side of the upper arm 4, and one end of K@N 5 is supported here, so that the forearm 5 can rotate about this shaft 41 in the θ direction. In addition, the forearm 5 can be rotated in the axial center V (α direction KIT1) of the forearm 6. In addition, the other end of this @ arm 5 is provided with a shaft 6 & h%. The wrist @ S is attached to this axis 5a. The wrist part 3 is provided with a VC seven parts 2 that are rotatable in the direction perpendicular to the rotation plane of the wrist part 3.Such a configuration In addition to opening and opening the claws of the grip part 2, the manipulator 1 rotates the side part 2 in the r direction, rotates the side part 2 in the β direction by rotating the wrist s3 with a β force of 10'', and the forearm 5. Rotation of the side part 2 in the α direction due to rotation of the forearm 5 in the α direction, 0 of the forearm 5
Rotation in the s direction, (b) movement of the upper arm 4 in the θ direction, and 03
The movement of the side part 2 in these directions by rotation in the directions 1, etc. & (m) the part 2 can be moved in any position and direction. joint part), electric actuators M1 to M provided in the rotating part
-, and at the same time, the angle change of each joint is performed by detectors 81 to S- provided at each joint. In addition, the side part 2 is an electric actuator M.
I often polish and close my nails.

6 is a ninth console for remotely controlling the manipulator 1, and this console 6 has three axes (x, y,
, z-axis) Control frame 7 with the degree of freedom of rotation of Ω , Ω 8 and Ω island and the operation switch SW + - SW in the rotation direction.
The front panel is equipped with digital switches SWs and a monitor television 9 that displays images from a television camera 8 directed toward the work space of the manibilator l.
Or being drunk.

In addition, on the operation console 6 there is a micro-combination
a control circuit for Qi to control the arithmetic processing unit including side devices and the driving γ actuators M1 to -M-;
A circuit for controlling the opening and closing of the holding portion 2 is housed therein, and a foot switch SW4 for emergency stop is provided at the lower part of the front exterior. 10Fi is a cable that connects the operation console 6, the television camera 8, and the manipulator 1.

MIJ'BI: The circuit configuration of the arithmetic processing system and each control system is as shown in FIG. Wholesale, in the figure, Ml, ~Mqu
'The M of these is a dynamic actuator! ,~
M1 is for wrist joint drive, M4. ~Ma is for arm drive, Mv
It is used for opening and closing the claw of the t1 grip part 2. Sle~S-
is provided corresponding to these electric actuators MI, ~M-, and detects the rotation angle and rotation angle of each joint and rotating part of the manipulator l driven by each wh actuator MI, ~M-. Detector p.

-P1 is X for detecting the operating angle of the control frame 7;

y, s motion detector, SV, . . . -SV-ke control circuit. These control circuits 5V1y to SV.

is a comparator CM that compares two human forces and generates a difference output.
The control (b) path Sv1 compares the detection gain PK with the output of 81, and gives the difference output to the front tc electric actuator Ml. The control circuit SV,
compares the outputs of the detector P and 81, and gives the difference output to the % button actuator M, which drives it.
Moreover, the control circuit SV compares the outputs of the detectors PM and S, and sends the difference output to the electric actuator M.
1 to run IIA. In addition, the control circuit SV
, compares the output of the micro combinator CPU given through the detector S4 and the output interface OIF, and the difference output is applied to the brake circuit SV@F to drive the force to the driver M4. ';i said detector S1 and @jl fj, output interface OI
The microcomputer C to be provided via F'
The output of the PU is applied to the electric actuator M with a differential output of 2 and 10 to drive it, and the control circuit 5
Compare the outputs of the micro combinator (PU) provided through the Vst/'1tSit detector S6 and the output interface OIF l, and apply the difference output to the actuator M@ to perform one pivot movement. let

IIFH input interface: This input interface IIF is for inputting the detection outputs of the respective detectors 81+ to S6 as micro combinator CPUtrc data. SWl is Th, #, rod 7 G
SW1 is a grip opening/closing switch provided on the control frame 7, SW is a digital switch provided on the operation console 6, SW and Fi are the aforementioned emergency stop foot switches. 8Vvti An 11L moving actuator M? which operates according to the contact output of the switch SW for the front gripping section to open and close the claws of the holding section 2. The grip opening/closing shaft control circuit that controls the drive of the IF switch 8W
This is an interface that provides the outputs of t, SW, , sw to the micro combinator CPUK, and each of these switches SWS receives an input from the microcomputer CPTJ Vi.

S W B r S W 4 output and detection%8c+
~Ss is received, and these data are calculated according to a preset program, and the top 14. control circuit SV through the output interface 7 ace OIF;
, ~SV, and also controls each axis, which is essential.

Figure 3(a) ib+Fi 414 of the control stick 7 section
A side view showing & and an upward view of the scooping shifter 1 of the control frame 7, and 6tj in the figure is the operation console. 7b is the base of the control frame fixed to the top surface of this operation console 6, and this base 7bK
The FiU-shaped frame 7c is rotatably mounted in the horizontal direction with a rotation support shaft 1d provided at the base end. The detector P1 is attached to the rotary support shaft 7d in order to detect the rotation angle Ω of the rotary support shaft 7d.

The first frame 7aK has a shaft rotatably provided near both ends of the U-shaped frame, and a second
A frame 7 is fixed thereto, and the second frame 2 is configured to be rotatable in the rotational direction of the frame 70 of the cutter 1 and the vertical direction about the center of the second frame 2. The second frame 7e is raised on the free end side to form a mourning shape, and a horizontal shaft 7f is set six times on this raised part, and the tilting shift part a is fixed to this horizontal shaft 7f. It is. The detector P1 detects the rotation angle Ωy of this horizontal axis 7f, -tfcbDefukuP! is the rotation angle Ω of the second frame goo! This is to detect. Also,
The square changeover switch 8 W t is provided at the top of the grip shifter a and can be slid in any of the four directions, that is, directions r, n, m, and ■, with the center as a reference. A switch 8W for opening and closing the claw on the upper part 2 of the manipulator 1 is provided on the upper part 2 of the manipulator 1.
s-S Ws can be operated with your fingertips. And, by configuring the seven control sticks as described above, the X.

The grip 21 can be freely moved around the three axes y and z.

By grasping the heavy fkFi grip 7a with such a configuration and moving it to a desired state, the state of the digging 71 can be determined by each detector P1+P provided on each axis! yP, and each rotation angle Ω1. Oh,.

Output as Ω1.

An image of the manipulator 1 is captured by a television camera 8 and projected onto a monitor television 9 of an operation console 6.

Now, when the controller moves the grip 71 of the control stick 7 to the desired state while observing the image on the monitor TV 9, the state of the grip i7m will be fixed for each of the three s-axes. The thin noodles 01) are decomposed into the respective rotation angles Ω凰, Ωtaki, Ωy and the detector PK h Pay
The control circuit sV that is compared with the detected power of the PIF,
,SV,,3ys.

The shaft rotation angle C1 of the upper arm 5 of the manipulator J, the swing angle β of the nail part 3, and the rotation angle r of the upper part 2 are respectively the corresponding detectors St e Ss + Sm.
Corresponding control circuit g V I # S V @ H
3V, is input.

Then, t+1lJI received the output Ω1mlK of the detector PI and 8 dew! The path SV compares α with Ω1 as a reference, and gives the difference output to the 11-movement actuator MIK◇
This is electric actuator Mt Fi control circuit S
It is driven by an amount corresponding to the output of VI, and the rotational position of the upper arm 5 is set to the same four angles as the horizontal rotation angle Ω1 of the first frame 7c by the operation of the grip rm. Also, detector P proverbs and 8. The outputs Ω1 and β of the control 1 (b) path sV snow Ω are compared with the reference i−β, and the difference output is given to the electric 7 cutiniator M. This) electric acteny l
M t FihItill h road sv, is driven by an amount corresponding to the output, and the swing angle of the wrist part 3 is changed to perform this move 1
The swing angle of the neck portion 3 is set to be the same rotation angle as the rotation angle Ω of the second frame 7 @ by the operation of ``Dori Shift &''.

Further, the control circuit svs using the output Ωer1 of the detectors P1 and S2 compares the number 0 with the reference j/Cr, and gives the difference output to the electric actuator MsK.

As a result, the electric actuator Ms Fi control 1 path S
V, is driven by an amount corresponding to the output of V, changes the rotation angle of the upper part 2, and changes the rotation angle of the upper part 2 by the operation of the scratch shifter a.
The rotation angle is set to be the same as the rotation angle Ω1 of the lever 2a.

The direction of the upper part 2 is controlled by this series of operations.

Also, the detection output a of each detector 81, ~S-.

βIr-θt-f) Idle-#a t1 input interface-xIIF to the microcomputer CPU K
Ton is input.

On the other hand, switch to the four-way switch BWr, r Inota,
Are the fsWs, emergency stop f, and tosit mW outputs interface 1? 'fr intervention.

The micro combiator CPU is equipped with K people.

A++ The digital switch 8W is for setting the movement step width U of the manipulator 1, and is used for each of the above-mentioned detectors 81+ to 8- and the switch 5Ws=.
Microcomputer crttF receives the output of SW1
i Using these outputs as data, the control circuits SV, .

It works to provide for.

νIJ Now, as shown in FIG. 4, let us assume that the target object is T and that this target object T is to be grasped.The direction of the upper part 2 of the manipulator 1 is directed toward the target object T by operating the gripping lever 2a. Then, the digital switch SW is operated to set the movement step U of the manipulator 1 to a desired value.

Next, set the direction in which the upper part 2 should move by operating the four-way switch and the switch SW of the VC grip 7a.

In the case of FIG. 4, the support end side 'f of the manipulator l:,!
i! If you look in the direction of the target T at the top 2 of the ditch, the slow moving T is in front of you, so you can switch four directions.

Slide the SWI forward and in one direction. As a result, the microcomputer CPU starts calculation based on the input data with the moving direction of the upper part 2 being the forward direction.

That is, the calculation is performed as follows.

Now, P(θi); position vector P(θi) of the center of the wrist 3
1+Δθi); Position vector U at the center of 10i after unit step movement; Step width q with multiple inputs from the digital switch; Assuming unit vector indicating the moving direction, P(θ+Δθ) = P(#i)+uQ
・・・・・・・・・・・・(In 111, the configuration of manipulator 1 is upper arm length! Layer, front jFg length J8
Assuming that the degree of freedom is M41W, then 嘱 -獅 梼σ Q-〇th e (Formula (2) Substituting Vca s+40.
If we omit the terms of the second order or higher, we get P(θ+Δθ)−P(θ,) i +111″″0 a12″ LPθW'5 a15=j2skθ2thθ.

a21 = −(11+L$na, )gln#,
+te, asa, cm#.

*22--1$# $62□0゜125-12 (cuia 1〉05-yu θ--2self05
)"s, -(11+12gmθ,)αTowthθ1 + 1
21ka' I CIIM'2C11g'j"52
-'-θ1-θ2〉-3 ”ss = t2(*θ-#5 +O)I# 10m
θ−θ3). Also, according to equation (1), since the system is P(θ+Δθ)-P(θ1) wet uq l...(5) However, in the above manner, only the unit step U is moved. 01. θ2. Each (b) moving angle θ, +Δθ1 of θ is determined.

Also, calculate the 4-way switch SW fish as shown in Figure 3 (if you tilt it in the direction of ■ in BL, it will be Ste, Boo, mkC-u), and the center of grip I part 2! This will give the cedar force direction vector to the rear along VC.If the first direction of movement of the vinylator 1 is the lateral direction of the grip 4 part 2, turn the ti 4-way changeover switch 5Wtt in the direction of 5W or ■. , in this case, instead of q in equation (3), each θ after moving by the unit step U obtained in this way,
Rotation angle data θ1+Δ01. θ proverb + ノθ fable.

θ3+Δθ3 are connected to the corresponding control circuits sv4. through the output interface 0IiF. sv, , 8Vs and the corresponding detectors 84°8 input to each
1 + 8m to obtain difference outputs respectively. This differential output obtained by the control circuits sv4 to SV is given to the corresponding electric actuator M4 @Ml*Mm, and these electric actuators M4 to M- are driven by an amount corresponding to the given differential output.

As a result, the rotation angle (i.e., IO angle) of the upper arm 4 of the manipulator 1 is θ, and the rotation angle (i.e., twist angle) of the upper arm 4 is a.
l, the rotation angle (that is, the swing angle) θ of the forearm 5 are the calculated θ, 1403. θ, ten lθ,.

The position is 0s+Δθ1. Micro Combiator CP
The calculation of U is performed each time the four-way changeover switch SW1 is operated or during the harvesting period.

The upper part 2 can be moved in the desired direction by the unit step width U simply by operating the switch lever a in the direction in which the upper part 2 is desired to be moved.

That is, the operator presses the grip J7m of the control stick 7 with one hand, and while observing the image on the monitor television 9, presses the manipulator 1.
The axis in the claw direction of the upper part 2 or the rotation axis of the upper part 2 is the target T.
The upper part 2 can be made to reach the target T linearly and smoothly by simply operating the four-way changeover switch SWi while sequentially correcting the posture of the hand 'It3 so as to face the upper part 2. When the target reaches the position of -T, the user operates the switch S- to open and close the claws on the upper part 2 and grasp the target -T. This operation is performed by operating the grip opening/closing control circuit 8Vy by the output of the switch 8Ws and driving the electric actuators M,'. In addition, if the movement of the manipulator 1 is to be stopped urgently, the microcomputer CPU is interrupted by operating the foot switch sW4, the calculation is stopped, and the drive of each electric actuator is stopped. good for

Incidentally, by carrying out the same operation as when moving to the target position as described above, it is possible to move the details back to the desired position.

As a result of the above, it is possible to change the upper part of the manipulator to the corresponding direction by simply changing the angle of the grip on the control stick, and the direction of movement can be selected using a four-way switch provided on the grip. As a result, the direction of the upper part can be moved in the direction of the upper rotation axis, improving operability and eliminating the need for operator skill, as well as adjusting the grip position according to the calculated value. Since each axis of the manipulator necessary for movement is controlled, advantages such as a simple configuration can be obtained.

Similarly, the present invention is not limited to the embodiments described above and shown in the drawings, but can be implemented with appropriate modifications within the scope of the gist thereof. The control circuit may be configured as a separate circuit, or a so-called dino talcer may be configured in which the microconbeater has a function such as a comparator, or in the embodiment, a television camera for obtaining visual information may be configured. It is also possible to use one or more than one, or to make it into a three-dimensional television.

Effects of the Invention As detailed above, the present invention has at least one end of the base Ki.
An upper arm portion supported swingably and configured to be rotatable in the direction of twisting the shaft; a forearm portion supported swingably on the protruding end side of the upper arm portion and configured rotatably in the direction twisting the shaft; It is equipped with a tenth part supported on the free end side of the forearm part so as to be freely swingable, and an upper part rotatably supported by this hand part for grasping an object, and an X with respect to the upper part.

Each of the movable parts is provided with a movable device that drives the movable part of the mosquito in response to an input signal, and a movable part that has a degree of freedom with respect to the three axes of Fel and a degree of freedom of movement in a desired direction. A manipulator equipped with a detector that generates a rotation angle 1r habituation signal of X, 7. a flexible control frame that has a degree of freedom for each of the three axes of z and is equipped with a detector that generates an output corresponding to the rotation angle of each axis;
A setting device that sets the unit movement width of the manipulator is compared with each rotation angle detection output of the corresponding wrist and upper part of the manipulator, shearing, and arm screw rotation based on the rotation angle of each axis of the control frame. The difference outputs are obtained as 1141jIt on the valley side of the three axes in
A control means for controlling a corresponding drive device of the z-three caps, a means for specifying a moving direction with the upper part of the manibilator as a reference, and a means for controlling the specified moving direction information and each detector output of the manipulator and the setting device.・Based on the information sound of the movement step width set, the movement step moved one width in the reference movement direction indicated by the movement direction information, with the direction of the upper tip and the co-movement axis direction as the reference direction. X obtained when
,7. a means for determining the rotation angle of each of the three axes, and a means for determining the rotation angle of each of the three axes as a reference, and a detector output corresponding to the movable part corresponding to each of the three cough axes on the upper part of the manipulator and the forearm, based on the rotation angle of each of the three axes thus determined. and a control means that applies the difference output as each detailed control amount to the drive device that drives the movable part, and by operating a control frame having three degrees of freedom, the direction of the control frame can be determined. X e 7 t corresponding to
Generate angle information of the N three axes and control the orientation of the upper part based on this, and also control the orientation of the upper part, the top of the manipulator, and the forearm! Based on the rotation angle information of Illu, the movement direction instruction information of the manipulator, and the movement step and step width information, calculate the rotation angle that each movable part should take when moving by the unit movement step width in the specified direction. Since the rotation angle of each movable part is controlled based on this, the direction of the upper part is directed towards the moving target by operating the control frame, and the direction of movement information is given. By sequentially linearly moving the upper part in the direction of one of the reference axes indicated by the movement direction instruction information using the rotation axis as the reference axis, the upper part is moved to the target position by determining the direction of the upper part and the wrist part. In addition to being easy to operate and requiring no skill, the configuration is simple as it is a method that calculates the control amount and controls it, and the only operation required is the control frame and movement direction commands. It is possible to provide a manipulator device for remote control which has excellent features such as less fatigue on the operator because only a few operations are required, and because the operation is simple, detailed work can be done easily.

[Brief explanation of drawings]

Fig. 1 is a schematic perspective view showing an embodiment of the present invention;
The figure is a schematic diagram showing the circuit configuration of the control system of the device of the present invention.
Fig. 3 (,) (b) is a side view showing the configuration of the control frame of the device of the present invention and a top view of the grip portion, Fig. 4 is a calculation model diagram of the device of the present invention, and Fig. 5 is a diagram of the four-way selector switch. FIG. 6 is a diagram for explaining the relationship between the operating direction and the $ power direction at the top. DESCRIPTION OF SYMBOLS 1... Manipulator, 1a... Base, 2... Upper part, 3... Hand part, 4... Upper arm, 5... Forearm, 6
...operation vehicle, 7...horizontal rod, 7a...grip, yb
...Base, 1e, 1...Frame, 8...Television camera, 9...Monitor TV, P1-Pa s 8
1-8s-detector, 8V1~S V7-control circuit,
IP...Interface, IIF...Input interface 7ace, OIF...Output interface% Ml
-MV...electric actuator, CPU...micro combinator, swl~SW,...switch. Applicant's agent Patent attorney Takehiko Suzue (a) (b) 1 Figure 4 Figure 5 45

Claims (1)

[Claims] At least one end is swingably supported by the base, and the earth arm is configured to be rotatable in the direction of twisting the NM, and the upper arm is supported by the free end of the upper arm and is swingably supported and twists the shaft. a forearm part configured to be rotatable in a direction; a wrist part supported by a swinging arm on the free end side of the forearm part; and a detail supported on this wrist part in a rotational manner for grasping an object. Each movable part is equipped with a drive device that drives the movable part in response to an input signal, a detector that detects the rotation angle of each of the i' moving parts and generates a signal, and a tl- A manipulator equipped with a manipulator, and a manipulator provided on the operation table and each having a degree of freedom for the three-way hllaK.
c Valley coordinates A control frame with a detector that generates an output corresponding to the rotation angle of the ship, a setting device that sets the unit movement width of the manipulator, and a grip of the manibilator based on each rotation angle of the control frame. The detection outputs of the rotation angles of the corresponding m-axes are compared, and the difference outputs are calculated as
control means for obtaining the noodles and giving each control amount to the corresponding drive device of the three coordinate axes for the details of the manibilator; Based on the movement direction information, each detector output of the manipulator, and the information on the unit movement width determined by the setting device, the movement for the unit movement width is determined based on the direction of the tip of the detail and the surface side axis of the wrist part. Sennari calculates the rotation angle of each of the three coordinate axes obtained when the direction is the reference direction and moves in the reference movement direction specified by the movement direction information, and based on the rotation angle of each of the three coordinate axes thus obtained, Compare the corresponding detector outputs of the movable parts corresponding to each of the three skeleton axes in the forearm on the manipulator, and apply the difference output to the drive device that drives the moving part as each subdivision control lid. A manipulator device that takes control means and a shell in a biased manner.