JPS59115172A - Control system of master/slave manipulator - 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 This invention relates to a control system for a master slave maniplane that operates in a manner that improves the maneuverability of the operator.

FIG. 1 shows a conventional example of a symmetrical feed bank (also called pirate servo) control system. In the same figure, the wrist. elbow. A master arm 1 and a slave arm 2, which have shoulder rotation or torsion joints, are electrically connected, and the joint angle θM of the master arm 1 operated by an operator (human being) is detected by a position detector 3. The joint angle θ of slave arm 2 is converted into a signal.
S is also converted into an electrical signal by the position detector 4. Electric signals from both position detectors 3 and 4 are differential inputs of a comparator 9.9. The output, a position error signal ΔE=θM−θS, is given to the drive device 6 on the slave arm 2 side via the amplifier 8, and this drive device 6 drives the slave arm 2 so that θS matches θM. . Further, the position deviation signal ΔB of the comparator 9 is converted into a signal ΔE by a signal converter 10, and then passed through an amplifier 7 to a driving device 5 on the master arm 1 side.
given to. Therefore, the drive device 5 acts on the master arm 1 so that θM and θS match, and gives the operator a reaction force corresponding to the torque in the direction of matching θM with θS.

By symmetrically providing the position servo system as described above,
The operator can reliably manipulate the slave arm 2 while easily feeling the force acting on the slave arm 2 or the force held by the slave arm 2.

However, when a human operator operates the master arm 1, static friction or kinetic friction occurs in the power transmission system of the drive device 5 of the master arm 1 and the force of the master arm 1, which impairs the maneuverability of the human operator. 2
The ability to maneuver while feeling only the force acting on an object is impaired.

In addition, static friction or dynamic friction occurs in the drive device 6 of the slave arm 2 and the force transmission system of the slave arm 2, and the greater the absolute value of the signal -ΔB that operates the master drive device 5, the greater the force exerted by the human operator. Maneuvering power is required, and maneuverability is impaired.

Such maneuverability problems arise when two people perform light work using general-purpose tools.1 For example, a robot with a slave arm is placed inside a nuclear power reactor containment vessel to open and close pulp, tighten bolts, etc. When an operator performs remote control from outside the containment vessel, 4? becomes a problem.

In view of the above-mentioned prior art, the present invention provides a method for remotely controlling a master-slave manipulator when a person wants to operate the master-slave manipulator while feeling only the force acting on the object as a reaction force from the master arm. If there is friction in the power transmission system of the device or the master arm and slave arm, maneuverability will be impaired.

This frictional force is attempted to be canceled by inputting a compensation signal to the master arm drive device.

Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 2 is a block diagram showing an embodiment of the present invention, and in FIG. 2, numerals 1 to 6 and 8 to 10 are the same as in FIG. 1. A speed detector 100 detects the speed of the master arm l and outputs a speed signal M. 101 uses the speed signal δM as an input signal, and the dynamic friction compensation signal ΔEMV of the aster arm.
This is a signal converter that outputs . 102 is a strain gauge attached to master arm 1. A strain detector 103 outputs a signal ε proportional to the strain in the rotational axis direction of the joint axis among the strain + generated in the master arm 1 by the operator's steering force. 104 inputs the strain signal ε.

0, which is a signal converter that outputs a static friction force compensation signal △Eε
105 is a first-order delay element circuit having a time constant T, which inputs the signal ΔEε and outputs the output signal ΔE6.

106 detects the speed of slave arm 2 and outputs a speed signal O
This is a speed detector that outputs 8. 107 is the speed signal θS
The input signal is the dynamic friction force compensation signal of the slave arm △
This is a signal converter that outputs Esv. A signal converter 108 receives the speed signal θ8 as an input signal and outputs an on-on signal for switching the compensation signal. 109 uses the on/off signal from the signal converter 108 as a control signal 2
This is a switch element for selecting whether to output the output signal ΔEε of 105 or a zero signal as ΔE6. 110 is the output signal ΔEε of the switch element 109 and the signal converter 10
1 output signal △EMV and signal converter 107 output signal △
This is an adder that adds Esv. 111 is an adder 110
This is an adder that adds the output signal (ΔE, +ΔEMV+ΔEsv) of the output converter 10 and the output signal −ΔE of the output converter 10.

Note that 7 is an amplifier that amplifies the output signal of the adder 111 to operate the drive device 5.

FIG. 3 shows the input/output characteristics of the signal converter indicated by 101 or 107. FIG. 4 shows the input/output characteristics of the signal converter 104. Figure 5 is 1
This figure shows the input/output characteristics of the No. 08 signal converter.

A specific example of the operation of the control method having the above-described configuration will be described.

[Operation Example 1] When a human operator operates the master arm 1 with a control force f, static friction force (hereinafter simply referred to as the master arm When the slave arm 2 receives the reaction force -f of the force acting on the object (hereinafter simply referred to as the reaction force), and the master arm 1 and slave arm 2 are stationary. .

In this case, since master arm 1 and slave arm 2 are stationary, the output signals of signal converters 101 and 107 are zero signals.

Further, since the signal converter 108 outputs an on signal, the output of the switch element 109 becomes ΔEε1. Then, the amplifier 7 receives a signal (-ΔE
, +ΔEε1) are input. Therefore, in the drive device 5, a reaction force fal is generated by the signal -ΔE1, and a force fε1 that compensates for the static friction force of the master arm is generated by the signal ΔEε1.

That is, unless the present invention is applied, the car fo generated in the drive device 5 by the human operator's steering force f:, the static friction force of the master arm -fε, and the signal -ΔE1
+ is balanced + j': f'+ f oI-
0, so f:=fεr+for2According to the present invention,9The car generated in the drive device 5 by the steering force f of the human operator, the static friction force -fε of the master arm, and the signal -ΔE+ f01 and the force fε1 generated in the drive device 5 by the signal ΔEε1 are released, and f
Since t fε+ fo+ +f 6+ =0, f, =f, .

Therefore, according to the present invention, the two human operators can reduce the static friction force molecule ε1 of the master arm from the control force, thereby improving the controllability.

[Operation example 2] When a human operator moves the master arm l with a control force f, a kinetic friction force is generated in the master arm drive device 5 and the power transmission system of the master arm 1 (hereinafter referred to as master arm kinetic friction force). And 1 anti car fo! , and the speed of slave arm 2 is moving below a certain low speed aSS.

In this case, the output signal of the signal converter 101 is ΔBMVI, and the output signal of the signal converter 107 is a zero signal (see FIG. 3). Also, since 1iysl<δss, the signal converter 107 outputs an on signal, so the output signal of the switch element 109 is △Eε! becomes.

However, at this time, ΔEε2 differs from ΔEε, as shown in FIG. The amplifier 7 receives a signal (-ΔE!+ΔEgl+ΔEyva) via adders 110 and 111.
) is input.

Therefore, in the driving device 5, the reaction force fox is generated by the signal -△E2.
and the signal △Eε2 drive the slave arm 6.
and the force f that compensates for static friction in the force transmission system of slave arm 2! , and the signal △EMV! fMvt is generated to compensate for the dynamic friction force of the master arm.

That is, unless the present invention is applied, the car fo! generated in the drive device 5 by the human operator's steering force fp, the dynamic friction force of the master arm ~f Mvt, and the signal -△E2. is balanced, and since ft fyvt fo*=o, f'' = f MVI + f at. (Here, fo f is.

The sum of the static friction force of the slave arm and the force exerted by the slave arm on the object) is 1.According to the present invention, 2. the operating force f2 of the human operator and the kinetic friction force of the master arm -
fyv*, the force f02 generated in the drive device 5 by the signal -ΔE2, the force fε2 generated in the drive device 5 by the signal ΔEε2, and the force fvvt generated in the drive device 5 by the signal ΔEMVI are balanced, and h fMv
2fot "f 'v + J'MV2 = 0, so f, = f, , -f ε,.

Therefore, according to the present invention, a human operator can reduce the dynamic friction force of the master arm and the static friction force of the slave arm from the control force, thereby improving maneuverability.

[Operation example 3] When a human operator moves the master arm l with a control force f, the dynamic friction force and reaction force of the master and slave arms -
f, and the speed of the slave arm is a certain low speed θs
If it is more than s.

In this case, the outputs of the signal converters 101 and 107 are ΔEMv, dsVl, respectively. Further, since the speed of the slave arm is 1δsl>δss, the output signal of the signal converter 108 is not an OFF signal, and the output signal of the switch element 109 is a zero signal. A signal (-ΔE3+ΔBMVl+ΔEsv@) is input to the amplifier 7 via adders 110 and 111. In the driving device 5, the slave arm 2 generates a force fuvs that compensates for the dynamic frictional force of the master arm by the signal −ΔEs that compensates for the force acting on the object, and a signal ΔEsv that compensates for the dynamic frictional force of the master arm by the signal ΔEMVI.
, a force that compensates for the dynamic friction force of the slave arm
svs is generated.

That is, without the present invention, the car fo generated in the drive device 5 by the steering force f of one human operator, the dynamic frictional force f MVI of the master arm, and the signal -ΔBm
e is balanced* fs fMvs folI=Q f
Therefore, fs' −fMys +f, oa.

(Kokote fos is the sum of the kinetic friction force of the slave arm and the force acting on the slave arm on the object).According to the present invention, the manipulating force f8 of the human operator 1uJ, and the kinetic friction force of the master arm -fMVI, Signal - ΔHs
Therefore, the force generated by the drive device 5 fos and the force j'Mv generated by the drive device 5 by the signal △EMVI
With s.

The force f generated in the drive device 5 by the signal ΔES Vy
svs and are balanced, fs = fMvs-fo*
+fMv+fsv*=0, so fs = fos
fsvs.

Therefore, according to the present invention, one human operator can reduce the dynamic friction force of the master arm and the dynamic friction force of the slave arm from the control force, thereby improving maneuverability.

As explained above, according to the present invention, when the operator manipulates the master arm, the master arm drive device generates a force that cancels out the static friction force or dynamic friction force between the master arm and the slave arm. The slave arm can feedback the force acting on the object to improve maneuverability.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a conventional master-slave manipulator control system, FIG. 2 is a block diagram showing an embodiment of the present invention, and FIG. 3 is a diagram showing input/output characteristics of signal converters 101 and 107. , FIG. 4 is a diagram showing the input/output characteristics of the signal converter 104, FIG. 5 is a diagram showing the input/output characteristics of the signal converter 108, and FIG. 6 is a diagram showing the output signals in each operation example. It is a diagram. 1...Master Arm, 2...Sley Farm. 100...Speed detector, 101, 104, 107゜1
08... Signal converter, 102. Strain detector. 1091 switch elements, 110, 111...adder

Claims (1)

[Claims] In the Z master-slave manipulator, which has a symmetrical feedback control function, the signals detected as the speed of the master arm and slave arm are converted to generate dynamic friction force compensation signals for each arm, and the distortion of the master arm is is detected and converted to generate a master arm static friction force compensation signal and an isometric slave arm static friction force compensation signal,
When the master arm and slave arm are stationary, the master arm's static friction compensation signal is used; when the slave arm moves below a certain speed, the sum of the master arm's dynamic friction force compensation signal and the slave arm's static friction force compensation signal,
When the slave arm moves above a certain speed, select the sum of the dynamic friction force compensation signal of the master arm and the dynamic friction force compensation signal of the slave arm, and use this to determine the positional deviation between the master arm and slave arm to drive the master arm. A control method for a master-slave manipulator, characterized in that the signal is added to a drive signal, and the drive signal drives a master arm drive device.