JPS60131172A - Method of controlling 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 [Technical Field to which the Invention Pertains] The present invention relates to a control method for a master slave type bilateral servo marpulator.

[Prior art and its problems]

A master slave machine cutting machine with excellent operability (there is one that performs two-way circular bilateral servo). Figure 1 shows a simple method of this method (-), which shows an example of how to drive a pair of joints. .MFi master side tw S represents the slave side, 1 and 5 are actuators consisting of a motor and a speed reducer, 2 and 6 are torque sensors, 3.7 are Fi position sensors, and 4 and 8 are amplifiers. With this configuration, the slave side is driven by the position deviation, so it has the same posture as the master side arm, and conversely, the master side is driven by the torque deviation, so it is added to the slave side. You will feel the force.The joints (
=The applied torque (- means the external force and the arm's own gravity, but the operator (- means it is necessary to make the operator feel only the external force, so
In the example shown in FIG. 1, it is necessary to compensate for the dead weight by using a counterweight, for example, so that the torque corresponding to the dead weight is not applied to the drive shaft, which would increase the overall weight of the arm and deteriorate operability.

Figure 2 shows an example of a digital servo block diagram that allows the drive motor to bear its own weight torque without making the operator feel its own weight, in order to solve the above-mentioned difficulties.
．． 10 indicates an input A/D converter, and 11 indicates an output converter. In this figure, the first motor on the slave side is given a torque command in a torque command routine 12 based on the deviation from the rotation angle of the corresponding first motor shaft on the master side. On the other hand, in order to compensate for the arm's own weight, the master side arm must calculate its own weight torque from the joint angle, calculate the bilateral torque from the slave arm torque and the self-weight torque, and calculate the master arm drive torque. Figure 2 (2, 1.3, 14 is the motor shaft rotation angle θMllθM2...θMn+θ81tθs
Joint angle calculation routine from z+...03n, 15.1
6 is a calculation routine for self-weight torque at a joint, 17.1
8 is a motor shaft torque conversion routine, 19.20 is a torque sensor output torque conversion routine, 21 is a bilateral return torque calculation routine, 22 is a motor shaft torque calculation routine, and 23 is a deviation torque calculation routine. In such a digital servo, as the degrees of freedom increase, the calculation processing time increases, the sampling period becomes longer, and the response performance deteriorates.

[Purpose of the invention]

The present invention has been made to solve the above-mentioned problems.
The object of the present invention is to provide a complete control method for a force-returning circular type bilateral servo manipulator that is light in overall weight and easy to operate.

[Summary of the invention]

The present invention uses a digital servo to drive the joints that need to compensate for the arm's own weight (2) and a joint that does not need to compensate for the arm's own weight (2) uses an analog servo to drive the gripping part (2). Calculation processing, input/output, A/D % D
This is achieved by saving the entire processing time of /A etc. and shortening the sampling period.

〔Effect of the invention〕

According to the present invention, it is possible to provide a control method for a force-returning circular servo manipulator that does not require an arm self-weight compensation device such as a counterweight or a spring, and is therefore lightweight, compact, and has excellent operability.

゛[Embodiment of the invention] Fig. 3 shows an embodiment of the present invention, 24,
25 are slave and master arms, respectively, 24a
, 25a are the slave hand and the master hand, respectively. Further, 26 is an analog servo controller, 27 is a digital servo controller, and 28 is an input/output controller. In this configuration (no need for arm self-weight compensation in second part), position signal θSH + θMH
And from the torque signals T8H, TMH, the drive currents V3H, VMH of the node/end part are determined by analog calculation (2).On the other hand, in the arm part where arm self-weight compensation is required, the position signals θ8A1~θSAn 1θMmu1~θMAn + and Torque signal T8A1~T8AntTMA1~TMA
From n to arm drive voltage ■S A 1 '-VS A
n + VMA 1-VMA n is Digi/A.

Arithmetic processing (Determined from 2. Therefore) The movement of the 1st part is smooth and responsive, and at the same time the calculation input/output processing time of the arm part is shortened, so a self-weight compensating device such as a counterweight or spring is required. It is possible to provide an lateral servo manipulator with excellent operability without having to use the servo manipulator.Although this example shows the case where the hand part has one degree of freedom, it may have multiple degrees of freedom to improve workability. (Secondly, the effectiveness of the hybrid configuration of analog and digital will further improve.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an analog servo, FIG. 2 is a block diagram showing -1FI of a digital servo that performs self-weight compensation, and FIG. 3 is a block diagram showing an example of an analog/digital hybrid servo of the present invention. 1.5...Actuator 2,6...Torque sensor 3.7...Position sensor 4,8...Servo amplifier 26...Analog servo controller 27...
Digital servo controller representative Patent attorney Kensuke Chika (and 1 other person) Fig. 1 Fig. 2 as”LMi Fig. 3

Claims (1)

[Claims] The master arm and the slave arm are configured with the same degree of freedom, and part or all of the force applied to the slave arm is transferred to the master arm (bilateral serpoma ζpulator), and it is necessary to compensate for the arm's own weight. To calculate the driving torque of a certain arm joint from the joint angle (
(2) A control system for a master slave manipulator, characterized in that digital pirate servo is applied to the joints, and analog pirate servo is applied to the gripping portion (which does not require full compensation of self-weight torque).