JPS59161280A - Bilateral 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 [Technical Field of the Invention] The present invention relates to a pirate manipulator device used for remote control in handling dangerous materials, dangerous work, etc. The present invention relates to a pilateral manipulator device that improves operability and is effective in reducing operator fatigue in a configuration that returns force applied to an arm.

[Technical background of the invention]

Pilateral manipulator devices, known by names such as Magic No. 1, which have traditionally been used for remote work, also have a force that returns the force received by the crepe arm to the manuter arm, taking into consideration operability and workability. The return type is increasingly being used.

This force feedback type pirate manipulator IT has a drive source, a position detector, and a force detector connected to the master arm and slave arm, and the force that the slave arm receives is detected by the force detector, and the slave arm A force corresponding to the detected force is generated in the drive source of the mechanically corresponding master arm, and is sensed as force by the operator operating the master arm.

On the other hand, when the operator moves the master arm, the position is detected by the position detector, and the slave arm is controlled by the position detector and drive source according to the detected value, and the slave arm is moved in response to the movement of the master arm. moving the arm.

Typically, such a bilateral manipulator device is composed of links having multiple degrees of freedom. If you line up,
A manipulator with 6 degrees of freedom can have 8 degrees of freedom for positioning the tip of the arm at an arbitrary position, and 8 degrees of freedom for allowing the tip of the arm to take any posture, all independently. The force applied to the tip of the arm can also be detected as a vector failure amount using the three degrees of freedom and returned to the slave arm. Therefore, it is possible for the operator to operate the slave arm with exactly the same feeling as when working directly.

[Problems with background technology]

In such a conventional force-feedback type pirate manipulator device, the gravity and nulling of the object held by the slave arm are
The reaction force that the farm or the object it holds receives from the outside is not differentiated from it, and is returned to the manutar side as a force sensation and is sensed by the operator.

However, with this type of system, the operator always feels the weight of the tool as a force sensation, for example, when carrying out work such as holding a heavy tool on the slave arm. Therefore, the reaction force received during work using the tool 7 acts on the operator through the 77 tar arm as a force superimposed on the amount of the tool wheel. However, considering that the only force sensation required for the operator in such work is the reaction force during the work, this conventional method imposes an unnecessary and excessive burden on the operator, resulting in poor workability and operation. There are many problems when considering the fatigue of workers. Such inconveniences can occur not only with tools, but also with work such as holding an object and fitting it somewhere.

On the other hand, there is also known a system in which the operating force on the operator's side is reduced by decreasing or increasing the force applied to the slave arm and having the operator sense it.

According to this type of system, it is possible to easily manipulate heavy objects with less force, or conversely, when handling minute objects, it is possible to create a feeling of weight that matches the human senses. Since there is no distinction between the gravity and reaction force of the object held by the machine, there are problems similar to those mentioned above, especially in terms of workability.

[Object of the Invention] Therefore, the object of the present invention is to eliminate the above-mentioned drawbacks of the prior art, to distinguish between gravity and reaction force with respect to the force applied to the slave arm side, and to adjust the reaction force according to the operator's needs. A pilateral manipulator device that improves workability and operability and is effective in reducing operator fatigue by controlling it so that it senses the force sensation of force alone or a combination of gravity and reaction force. is to provide.

[Summary of the invention]

In order to achieve the above object, the present invention includes a master arm and a slave arm in which force detection means, position detection means, and drive means are symmetrically provided in the number corresponding to the degrees of freedom, and a force is applied to the Nure firm at the time of setting. a first means for detecting and storing a load applied via a force detecting means and a position detecting means;
and a second means for generating a load corresponding signal according to the degree of freedom based on each output signal of the slave arm position detection means, and a period other than the set dark point? A third means for moving the master arm through the drive means based on a drive signal obtained by subtracting a load corresponding signal from the force detection means output signal of the rape arm. .

[Implementation sequence of the invention]

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a pirate manipulator device according to one embodiment of the present invention, particularly illustrating a configuration with one degree of freedom.

In the configuration shown in FIG. 1, the slave arm is constructed by connecting a movable link 2 to a joint 1, and rotates in the X-Z plane.

Note that an object 8 is held at the tip of the link 2. On the other hand, the manutar arm is constructed by connecting a movable link 6 to a joint 5, and the operator grasps the tip of the link 6 to move the link 6 and creates a slave arm ()1! It has 7 handles for knowing the power of l. Europe, the main disaster trend 1.”
In this case, it is assumed that the movable range, movable direction, and length of the links 2 and 6 are the same, and the lengths of the links 2 and 6 are each t.

The drive device 10 is provided for driving the Nure-Farm side, and drives the link 2f via the joint 1. The force detector 8 detects the force around the axis applied through the beam/beam 2 (!-), that is, the force applied to the slave arm side.

On the other hand, the position detector 8 detects the position of the link 2 with respect to the joint 1 in terms of angles from two axes.

Similarly, the master arm elevation 1 is also provided with a force detector 12 and a position detector 13 to obtain a reference signal for the operation of the slave arm. It has an effect that is given to the operator via the link 6.

In this configuration, the slave arm is currently holding the N electric W object 8 and is not receiving any output, and the link 2 is phantom to the joint 1 and is at an angle of 0 and around 1. Suppose there is. In this case, the switch 23 sends a signal to the control device 2 indicating that the link 2 only holds the object 8 and is not receiving the reaction force of the seven functions. It is assumed that this signal is not sent after the -rt reception is received by the control device 2. Upon receiving the signal from the switch 23, the control device 2
] calculates the weight Ws of the object 3 by the calculating unit 17.

This can be determined from the output of the position detector by the inclination angle θe of R/R2 and the force M around the axis detected by the force detector 8.
Based on s, We = Me / t −sinθe・・Il・・−
. . . - It is calculated as (1). The value Ws obtained in this manner is input to the storage device 4 and stored therein. Switch U is a changeover switch for selecting whether the manutar arm senses only the reaction force or both gravity and reaction force. When the switch 24 is sending out a signal to select which one to sense gravity and reaction force together, the control device 1t2
1 inputs the input signal from the opening force detector 8 receiving the signal directly to the comparator 16 by controlling the switch 125. Comparator 16 converts the deviation of the input signal from force detector 12 with respect to the input signal from force detector 8 to amplifier 14 .
Send to. The i-force signal of this amplifier 14 is
In this case, the driving device 11 becomes a fist that outputs a force such that each output signal of the force detector 8 and the force detector 12 becomes the same. As a result, the operator holding the handle 7 can sense the full force that is the same as the force being applied to the tip of the link 2 of the slave arm.

On the other hand, the switch is sending out a signal to select only the reaction force is detected, kT3'J fn Tables Zj
The input signal from the opening force detector 8 receiving the signal μ is inputted to the comparator 16 via the arithmetic unit 15 by controlling the switch 125.

When the input signal from the force detector 8 is M and the input signal from the position detector 9 is θ, the calculator 18 calculates the force around the axis that the link 2 receives due to the gravity of the object 3 at any position on the link 2. Calculate Me. This calculation is Mc=Ws-/, -5in#...
・・・・・・・・・・・・ It is executed according to the formula (2). Next, the calculator 15 receives the input signal M from the force detector 8.
The calculation result Me of the calculation unit 18 is subtracted from the calculation result Me, and the result is output to the comparator 16. The comparator 16 outputs the signal from the arithmetic unit 15, that is, the deviation of the input signal from the force detector 12 with respect to 7M-Me, to the amplifier 14. The drive device 11, which receives the signal from the amplifier 14, outputs a force around the same axis as M-Mc, and the operator holding the handle 7 senses this force. - Now, when the slave arm Rin 2 is holding the object 8 and is not receiving the force of its ability, that is, when there is no reaction force, the output M from the force detector 8 is the output of the calculator 18 M
Same as e. Therefore, the force M output by the drive device 11
-Me becomes zero. That is, the operator holding the handle 7 cannot sense any force.

However, if the tip of the object 8 or the IJ link 2 is affected by the reaction force F
If this causes a force MR around the axis to be applied, the output M of the force detector 8 will be Me+MR. Therefore, the force output by the drive device 11 is the same as the force around the axis due to MRl, that is, the reaction force F received by the link 2, and the operator holding the handle 7 will sense the same force as the reaction force applied to the slave arm. Become.

Next, a description will be given of a pond implementation in which the present invention is applied to a pilateral manipulator device with six degrees of freedom.

The structure of the two-rape arm of the manipulator with 6 self-t4[k is shown in the schematic drawing of FIG. 2, and the structure of the master arm is shown in the explanatory drawing of FIG. 3, respectively. The configuration of the degrees of freedom of each link of the arm is determined by
Expressed in terms of −Z coordinates, in the slave arm shown in FIG. 2, joint 100 rotates around two axes, and joint 200 rotates at x 1! ! + bending, joint 400 is also provided to perform bending of X@1 rotation, and joint 200 and joint 400 are connected by link 300. On the other hand, the joint 500 and the joint 700 are connected by a link 600. Also,
The joint 800 is provided to perform rotation around 2@, and there is a mechanism for holding the object 8 at the tip of the swivel 900 connected to the joint 800. On the other hand, the joints 110, 120, 140, 150, 1 of the master arm shown in FIG.
70 and 180 are the joints 100 and 20 of the 7-reve arm.
0, 400, 500.

have similar degrees of freedom corresponding to 700 and 800, respectively,
Also link 180. The number 160 also corresponds to the number 5 (nine leaf arm) 800 and 600, respectively, and has similar functions. However, the link 190 connected to the joint 180
A handle 7 is attached to the tip of the master arm so that the operator can hold the master arm and feel the force.

Now, the distance between joint 200 and joint 4000 rotation center is t8,
H joint 400 joint 700, , joint 700 (D center of rotation held at the tip of ri/ri 9
Let the distance to the center of gravity of fc object 3 be 60 degrees. On the other hand, the joint is 100 when the arm is extended vertically,
200.

The angle of rotational bending with each degree of freedom of 400, 500, and 700.800 is set to θ3. θ6. θ4.
θ,.

It is expressed as θ2 68.

When the slave arm holds the vlJ body 8, the force around each joint's degree of freedom that is applied to each joint by the gravity W of the object 8 acting in the downward direction of the z-axis can be easily determined by mechanics, and it is calculated by the following formula. be clothed by

M8s==0 ・・・・・・・・・・・・・For music・
...Old...River (3) M2S =-(A*O+B1
5inθ? )*/,, *W (4) M5S
=-8*D*t, *w River... eyes... (5) M4S
"A*/-e *w-4-'(A*cosσ7
+B 10F) *4 Rate W・・・・・・・・・ (6) M, B=M, +5in02 * t3*w River (7)
M, 8. ==0 ・・・・・・・・・・・・−Mark・・
・・・・River l・river (8) However, MaB”?9
% MII s % M 4 s b
M t s , M18 is (-rezo 11 section 800,
700, 500, 400.

D and F are AFCO3θ4 sinθ, +sin”4 cos6, respectively
．． l-(9)B=sinθ, sin'/2-co
s(/, cos6.-(10)c=cosθ7 si
nθ, ・・・・・・・・・・・・・・・・・・
... (11) D=sjnθfuC03O1lkawalekawakawa...kawa...02)F=sinff7sin6B m+
It is expressed as +++++m++++m++++++ (1:3). Note that the center of gravity of the object 3 is assumed to be on the rotation center axis of the joint 800 here.

Furthermore, if the forces expressed by equations (3) to (8) applied to the corresponding joints of the slave arms are applied to the master arm, the same force will be applied to the handle 7 as when the two rape arms hold the object 3. When working, the operator holding the handle 7 can feel the force as if he were holding the object 3.

Here, when the tip of the slave arm or the object receives a reaction force F, each joint 100, 200, 400, 500
.

The additional force applied to 700 and 800 is MIR5M, respectively.
1fi s M4Rs M5@+”IRm M
&f (If the slave arm does not hold anything and is applied from the outside, and when it holds object 3 and is applied from the outside, the reaction force F
When the force is applied to each joint, the forces around the degrees of freedom of each joint can be summarized as follows. That is, 100 joints.

The forces applied to 200, 400, 500, 700, and 804 are respectively ``1 * Ml r M4 + Ml
l+'? * If Mll, then gravity Wff: When holding SaV... (14) M8: M8s1 + "H"101H'J11° 1018°M, = M7S...Group...... ··river······
・・・・・・(15)M,=M,8 ・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
06) M,=M48 ・・・・・・・・・・・・・・・
・・・・・・・・・・・・ α7) M, = M, S
・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・ 08) Ml”'M18 ・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
09), and when holding object 3 with gravity W and receiving reaction force F from the outside, M, = M8s + M8R...
・・・ QO) M=M+M, R・・・・・・・・・・・・
・・・・・・・・・ (2]) 75 MS: Mll B + MS R”−0°−−−−−
--1-(:z2)M 4" M 4 S + M 4
1:t ・・・・・・・・・・・・・・・・・・ (
23) M2=M, s+M2R・・・・・・・・・・・・
...... (24) M, = M18 + M, R...
・・・・・・・・・・・・・・・ (25)

The master nureve manipulator shown in FIGS. 2 and 3 has a force detector and a drive device at each joint.

There are position detectors, which are connected to a control device 2 as shown in FIG. 4, which is a block diagram of a bilateral manipulator device according to an embodiment of the present invention. In the figure, the joint 800 force detector 220 is a force detector that is 3+i tangential to the joint 800 in FIG. 2, the joint 800 drive device 280 is a drive device that drives the first joint 800 in FIG.
Joint 800 position detector 240 indicates a position detector connected to joint 800 in FIG.

A similar correspondence exists for the pond area.

When the slave arm holds the object 3 and is not receiving any reaction force from the outside, a switch 23 sends a signal indicating this to the control device 21. When the control device 21 takes a single shot of the rising or falling edge of the C signal,
The weight of the object 30 is calculated by the calculator 17. this is,
The tilt angle θ, ~θ8, which can be detected by the position detector group, and the force M, ~M around the axis of each joint, which can be determined by the force detector group
8, using equations 04) to (19). Here, the right side of each equation (14) to (19) is (8) to (8)
As can be seen from the formula, 02, θ4. θB + ”I +
Ml + M4 + MS + M? Calculated only by Therefore, only the signals necessary for this purpose are input to the arithmetic unit 17 of the control device 21. Formulas (14) to (19)
The values of t and W are determined by the arithmetic unit 17 through calculations based on . These values t and W are input into the memory 25 and stored in the memory δ.

Switch 24J'l: This is a switch for selecting whether the master arm senses only the reaction force or both gravity and reaction force. If the switch 24 is sending out a signal to select which of the combined gravity and reaction forces is being sensed, the controller 21 cuts off the input signal from the slave arm force detector while receiving that signal. The switch group including the comparator 125 is used to directly input the input to the comparator group including the comparator 16. The comparator group outputs the deviation of the human force from the force detector group of the master arm with respect to the input from the force detector group including the force detector 310 of the Nurepu arm 7 to the amplifier group including the amplifier 14. .

The amplifier group drives a driver group including the master arm driver 330. The comparator group and the amplifier group cause the driving device group to output a force such that the outputs of the force detector group of the slave arm and the force detector group of the master arm are the same. Therefore, the operator holding the handle 7 will feel the same force as that applied to the slave arm.

On the other hand, when the switch 24 is sending out a signal to select sensing only the reaction force, when the control device 2 receives that signal, the input signal from the force detector group of the slave arm is calculated by the switch group. The signal is applied to a group of comparators including a comparator 16 via a device 15 . In addition, the computing unit 18 calculates the degree of freedom @ rotation of each limb due to the gravity of the object 30 in the posture of the arm position.
Calculate. Incidentally, in this implementation sequence, M, 8 and M8S are always abbreviated as zero. The computing unit group including the computing unit 15 receives an input signal M2s from the computing unit 18 from an input signal from the force detector of the slave arm with respect to each corresponding joint.

M48 + M5S * M79 are each subtracted to obtain the respective corresponding ratio MW of the comparator group including the comparator 16.
Output to. As a result, the operator holding the handle 7f can fully sense only the same force that is applied from the outside to the slave arm and the object 3 it holds.

In addition, in a manipulator with multiple degrees of freedom, is the force vector in all directions? Force can be detected as a quantity decomposed into force vectors corresponding to each degree of freedom, and j, which can be synthesized by a corresponding drive device, can be easily explained mechanically. In addition, it can be mechanically explained that the amount of force due to gravity that acts on each link generally changes depending on the posture of the arm, and that these can be calculated depending on the posture of each link. However, as the degree of freedom of the manipulator increases, the number of calculations performed by the computing unit used for each disaster may suddenly increase. However, these operations can be executed by a computer at a speed that does not pose any practical problem.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to sense only the force sensation required by the operator who operates the slave arm, thereby improving the operability of remote work and further facilitating judgment. Furthermore, it is possible to obtain a bilateral manipulator device that can reduce operator fatigue by eliminating unnecessary force sensations.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a pilateral-q nibrator arrangement according to an embodiment of the present invention, and FIGS. 2 and 8 are diagrams showing the configurations of a Nurev arm and a Manuter arm to which the functional embodiment of the present invention is applied. FIG. 4 is a block diagram of a pirate manipulator device according to an embodiment of the pond according to the present invention. 8.12...force detector, 9.13...plate detector,
10゜11-... Drive device, 14.20... Multiplier, 15.17.18... Arithmetic unit, 16. l'l...
Comparator, 21...Decoration device, 23.24...Nuitchi. Applicant's agent Kiyoshi Inomata

Claims (2)

[Claims] (1) A manuter arm and a crepe arm in which a number of force detection means, position detection means, and drive means are symmetrically provided according to the degrees of freedom, and a force detection means and a position detection means that detect the load applied to the slave arm at the time of setting. a first means for detecting and storing the signal via the slave arm; a second means for generating a load corresponding signal according to the degree of freedom based on each output signal of the first means and the slave arm position detecting means; The force detection means output signal of the crepe arm corresponds to the load (n
and eighth means for moving the manuter arm via the drive means based on the drive signal obtained by subtracting the number. (2) In the first state, the eighth means subtracts the load corresponding signal from the crepe arm force detection means output signal to generate a drive signal δ, and in the second state, the eighth means generates the drive signal δ from the crepe arm force detection means output signal. A pilateral manipulator device according to claim 1, characterized in that it includes switch means for generating a direct drive signal.