JPS5981079A - Control system of multi-joint arm - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] This invention 1) relates to a multi-joint arm control system that allows simple work to be performed remotely in a narrow space where a person cannot enter.

[Prior art and its problems] In a shielded cell for nuclear fuel reprocessing, a large opening 1'' is installed so that humans can enter, such as inside the reactor body of a nuclear fusion reactor. In addition, in facilities where it is impossible to inspect the inside of the building or carry out simple work due to space limitations or safety restrictions such as high radiation areas, the operator must There is a strong demand for humans to be able to stay in a safe area and only machines that carry out predetermined tasks to be installed in such an environment and to be able to cut by remote control.

[Object of the Invention] An object of the present invention is to provide a multi-joint Arnault control system that allows inspections and simple tasks to be performed in adverse environments by remote control without causing mental or physical burden on the driver.

[Summary of the Invention] The present invention provides a method for controlling a multi-joint arm configured to connect a plurality of arms in 11 rows via joints and to control the joint angles of the connected joints. Determine the trajectory of the multi-joint arm to the object to be moved, divide this trajectory into N parts, find the coordinate values of the dividing points of the N parts, and then convert this coordinate 11^ to the joint angle of the joint part. This is a control method for a multi-joint arm in which the multi-joint arm is moved along the trajectory by inputting the input to the joint angle control means to be controlled, and further, the arm is connected to a contact sensor attached to the side surface of the arm, and the contact sensor When the contact sensor makes contact and issues a signal, confirm the location of this contact sensor, correct the trajectory the multi-joint arm should take again, and input the corrected value to the four-joint angle control means. This is a control method for a multi-joint arm that operates to

[Obvious Effects and Effects] According to the present invention, the driver can perform simple work in a narrow space in a bad environment, which was previously impossible, while staying in a safe place. A-operation is now possible, and the reduction of the net radiation exposure of the creators is particularly important, 1.
The effects of attending a joint facility are enormous.

[Embodiments of the invention]

Examples of the present invention will be explained below. FIG. 1 shows an example of an object to be inspected, and for ease of understanding, a two-dimensional space will be described as an example. In the g4rJ1 diagram, l is
2 is an opening of the tank, and 3 is a group of pipes installed inside the tank. Such a shape is commonly seen in heat exchangers.

If there is a leak in the tank 1 and you want to visually inspect point Q from inside, looking directly at point Q from the opening 2 is as follows:
In the multi-jointed arm control method according to the present invention, the gap between the wall of the tank 1 and the pipe group 3 is inappropriate (in cases where there is too much room for a person to enter), A method that enables quick work in a narrow space that cannot be easily accessed by humans, such as when the inside of Tank 1 is contaminated with radioactive materials and humans cannot easily access Tank 1. Supports the base of the multi-joint arm and the base of the multi-joint arm, which can pass through even narrow and twisting spaces. Using a remote control device consisting of a motion mechanism, a control device to control these, a television camera attached to the end of the multi-jointed arm, and a television monitor that displays the image of the television camera, In the case of Figure 1, multiple INJs are placed along softener C.
- Insert the arm into the tank and use the television camera at the tip to project 99 points of the image to a safe place where the driver is. This is a method to set the number to n6. Figures 2 and 3 show the mechanism of the present invention. It is a figure showing a beauty control part.

In Fig. 82, the multi-joint arm 6 has a
~4n and joints 51~5n connecting them,
Ahead <,! A television camera 16 is attached to P, IIV and D.

7 is a multi-jointed arm that supports the base of 6 and moves the entire body.19, eyes! 11 arm movement structure.

When this J: Unata 1 glue angle i-arm is operated by n 3-position switches connected to the motors attached to each 11-1 #ii, the unit arm becomes each arm + ziz
Jllll based on the mark (so the driver is stationary '4'!
While always considering the relationship between I and the arm position in νrlO, 3
The on/off control of the position switch must be controlled, which is inefficient and also increases the mental burden on the driver.

In order to solve this problem, the control arm 6 and the articulated arm moving mechanism 7 are constructed as shown in FIG. 8 in figure m13. ~8n is a motor for controlling each joint (51~sn) of the multi-joint arm 6;
．． -9n is an encoder that measures the rotation angle of each joint (11111 in total), and 101-10n are contact sensors attached to the surface of each unit arm (4, -4n). Furthermore, 11
121 is the motor that moves the multi-joint Arno moving mechanism 47.
This is an encoder that reduces the movement ψ of the multi-joint arm moving mechanism 7. 13 is motor drive T8JJ h, il
14 is the old 111 machine, 15 is the subtraction machine input/output wheel, and 13.14.15 forms the control device 117'18. 16 is a television camera, and 17 is a television monitor.

Next, to explain these operations b, make ll# in l1lt of the flowchart shown in Fig. 4, move the multi-joint arm as shown in Fig. 5, g, lj, as shown in Fig. 6. In this method, the arm 111 (rolling stone 1r1.) is inserted into the arm f4i+"y-1,6 on the drawing of the tank 3 to be inspected. Draw the path C (I7!, diagram 5 is confusing) that seems to be the most unreasonable (ilti), divide it into n parts, and set 1'V = mark at each dividing point (t'o-p□). seek.

Next 1). ~Pn j small side 11 equipment input/output device 1i1
From 5 to 4, the multi-joint arm 6 is started to be driven by human power [2].

610 cup p + 4) The rotation angle of each joint and the rotation angle of each joint to advance by d/i (hereinafter referred to as forward bit and 1・Pbu) leading to 1m, →P, and ・13・1r'1j arm movement ]
The rotation of the motor of number 7 is 1'rl (0) in U1 position.

This narration, 6 temples? ! 1151+52+'...5n
Id: l) o~pH should be planned so that it comes to the gauge height -H connected by j junction.As a special 1.IJ connection, h1
If the agility of the 4i-position arm is all equal to Aha, and the distances of K, J, and Libitsch are also set to lR, then (la - Δl) υ[
, each h1 cycle i51, 52...51. is Pi, “i−+
+ Ml"\'l will be added so that it becomes Pi-01.

Fit? ! +iQ 14 I-p (θ) 6 mouths 1
When this is completed, signal 18 is sent to the motor drive circuit 13 so that each motor rotates by [θ].0 If the trajectory C initially set on Figure a11 is incorrect, for example, 11 in Figure 5. If the unit arm 41 contacts the point immediately after the start of the push-in operation, the arm 4 at 1r-1, IF- position.
Contact sensor 10 mounted on 1. The E signal is turned on, and the control device 14 immediately instructs the motor drive circuit M 13 to stop all motors. Then, information about which side of which unit arm contacted the obstacle is output to the computer input/output device i15. In accordance with this information, the driver re-cuts the trajectory C on the tank diagram if+i, corrects the trajectory as shown by the dotted line in FIG. 5, and sets the new coordinate point P'2. The coordinate values of P'B and P'4 are input again using the machine output device 15, and the work is restarted.

While repeating the above-mentioned operations, the multi-joint arm 6 moves toward the trajectory C.
Since the point Pn can be far away along the line, visual inspection of the Q point can be easily performed using the television image. When returning the multi-joint arm from point Q, memorize the commanded value of the forward path and perform the reverse of the forward movement.tj: Good.

- That is, these operations are shown in FIG. 6, as shown in FIG. [θ] MH'1 means 20 for instructing tψ [θ]; and [O] rotation command means 21 for instructing the joint angle [θ] from the iil'M- value of; It is mainly composed of a motor control device &i23 that controls the motor 22, and the angle during operation is detected by the joint rotation degree detection means 24, and the angle during operation is detected by the joint rotation degree detection means 24.
iC? , 23 people are working. In addition, the contact detection means 25 attached to each arm uses the contact point display means 27 to display the contact side 17 via the contact point determination means 26 to confirm where the obstacle is in contact with the obstacle, and detect the new obstacle. Create a trajectory on the drawing that does not touch.

The corrected trajectory obtained by the corrected trajectory creation means 28 is divided into N parts as described above, and the divided points are manually inputted into the coordinate value input means, and the signal processing is performed again by the 1-by-1'' control 29. .

Furthermore, in order to simplify the theory of internal medicine, I used a multi-joint arm that moves in a two-dimensional plane as an example. It is possible to configure a remote control device that can move freely within a space.

In addition, we used an example of an inspection device d with a television camera attached to the end of a multi-jointed arm, but if the end is equipped with a torque, French, or magnetic chuck, it will be easier to tighten nuts and collect loose parts. This also makes it possible to perform other tasks.

[Brief explanation of drawings]

Fig. 1 is a sectional view explaining the present invention in detail, Fig. 111 is a top sectional view showing the bean paste used in the invention, Fig. 3 is a circuit diagram showing the configuration of the device used in the invention, and Fig. 4. 5 is a control flowchart of the system of the present invention, FIG. 5 is an explanatory diagram to help understand FIG. 4, and FIG. 6 is a block diagram showing the system of the present invention. l...tank, 2...tank open part, 3... U group 41-4n... unit arm 51-5n...
Joint 6...Multi-joint arm 7...Multi-joint pi1 arm F'! Motivation measures 8, to 8n...Motor, 9. ~9n・
...Encoder 12...Motor 13...Motor drive circuit 14...Port 1"fP machine 15...Total η1 device input/output device f'<16...Television camera 17...Television monitor 18 ... Control device agent Patent attorney Kensuke Chika (and one other person) Figure 1 Condolences 4 Figure 5 ]

Claims (2)

[Claims] (1) Multiple υ) arms connected in series via joints 1
~, in a method of controlling a multi-joint arm C configured to control the joint angles of the connected joints--C1 determining the trajectory of the multi-joint arm to the object to be moved;
The trajectory of is divided into N parts, and the coordinate values for the N divided divisions of are determined, and then these coordinate values are applied to the joint angle control means for controlling the joint angle of the joint part. A multi-joint arm control system characterized by moving the robot along the orbit. (2) Configure the arm with a contact sensor attached to its side, and when this contact sensor makes contact, a signal is output. After confirming the location of this contact sensor at 1-9 o'clock, check the position of the multi-joint arm again. The multi-joint control system according to claim 1, characterized in that the in-vehicle trajectory is corrected.