JPS60150978A - Remote manual operating 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 Application of the Invention] The present invention relates to a remote medium vAJ operating device, and particularly to reducing the influence of frictional resistance on operating force. The present invention relates to a remote manual operating device having a 1i11 m circuit, specifically a bilateral servo mechanism.

[Prior art]

Generally, when using a multi-joint manipulator to perform work using a labyrinth operation, information on the force being applied to the manipulator from the outside is transmitted to the operating side to prevent excessive force from being applied to the manipulator or the workpiece. It is said that it is essential to control the In particular, the operation method is a mask slave method (a shape similar to the slave manipulator that actually performs the work (D
-r Star? Using the nipulator as a control device, the operator manipulates the master manipulator to cause the slave manipulators to make similar movements. ), it is said that the work is virtually impossible without a force transmission function that transmits the force applied to the slave side arm to the mask side arm in the form of a reaction force.

This force transmission function from the slave side to the mask side is realized by a bilateral servo mechanism. However, when a pilateral servo mechanism is actually used in a manipulator, there is a problem in that the external force applied from the outside to the slave side is not smoothly transmitted to the mask side due to friction in the mechanical part of the manipulator. .

Conventionally, a friction compensation method as shown in FIG. 1 has been considered as a method to compensate for this drawback. Below, in order to clarify the problems of this friction compensation method, we will first explain the
The operating principle shown in the figure will be explained.

The part surrounded by the broken line in FIG. 1 is the friction compensation circuit.

It is detected by a blade force detector 9 added to the main drive arm 1 by the operator, and its output signal is guided to a direction determination circuit 10. Inside the direction determining circuit 10, the operating direction is determined based on the sign of the differential signal. A compensation voltage Vs1 is applied to the main drive motor 7 in the direction in which the main drive arm 1 is moved by the force applied by the operator. A compensation voltage Vs2 is applied to the driven motor 8 in the direction that the driven arm 2 follows along with the movement of the active arm 1. , the friction torque can be canceled by selecting each of the compensation voltages Vsl and Vs+t so as to generate torques equal to the respective friction torques on the driven side.As a result, the operator no longer feels the influence of the friction torque. On the other hand, the servo system other than the friction compensation circuit shown in Fig. 1 is as follows.The position of the driven side is determined by taking out position signals from position detectors 5 and 6 connected to the respective arm shafts 3 and 4. , constitutes a normal position servo system that controls the difference as a servo deviation 6. Also, since this servo deviation ε is proportional to the magnitude of the load on the slave side, it is fed back to the master side motor 7. A servo system is constructed that transmits the magnitude of the load to the operator in the form of a total reaction force.This servo system is called a pirate servo system.

This servo deviation ε does not become zero when the driven arm 2 is at rest due to friction on the driven side.

On the other hand, since the friction compensation circuit selects the compensation voltage on the assumption that the servo deviation ε is 0, the following problem occurs.

In other words, if the sign of the compensation voltage changes due to a change in the operator's force or a disturbance at the stationary position of the driven arm 2, the motor torque will change to the motor torque corresponding to the servo deviation ε occurring at the stationary position. The driven arm 2 overcomes the frictional torque by that amount and begins to move.

At the same time, the operator feels a reaction force corresponding to this servo deviation. This reaction force causes the sign of the compensation pressure to change again, resulting in 2-inching on both the driving side and the driven side, resulting in a poor operating feel and, in some cases, oscillation.

[Purpose of the invention]

An object of the present invention is to improve the operability of a remote manual operation device by eliminating hunting. - [Summary of the Invention] The present invention provides a remote manual control system having a circuit that detects the direction of the force applied to the driving arm by the operator and, depending on the direction, generates a constant compensating torque in the drive motor to cancel out friction. In the operating device, as a means to reduce the influence of servo deviation on the drive side motor when the drive side arm is stationary, when the drive side arm is at a speed outside the specified range,
The gain of the servo deviation given to the 11111 motor is switched so that it becomes smaller.

[Embodiments of the invention]

An embodiment of the present invention will be explained below with reference to FIG.

The configuration will be explained below. A position detector 5 and a motor 7 are connected to the rotation shaft 3 of the driving side arm 10 operated by an operator. The driven arm 20 rotation shaft 4 includes
A position detector 6 and a motor 8 are connected. The output signals of the position detectors 5 and 6 are led to a subtracter 14 and become the servo deviation ε.

The servo deviation ε is led to an adder 16 and a gain switch 13. The output e of the gain switch 13 is led to the subtracter 15. Force detector 9 mounted on the driving side arm
The output signal S of is led to the direction detection circuit 10. In the direction detection circuit 10, the output signal '-jSk is differentiated, and depending on the sign thereof, a positive or negative constant voltage is outputted and guided to voltage regulators 17 and 18. The outputs of voltage regulators 17 and 18 are input to a subtracter 15 and an adder 16. The d calculator 15 subtracts the cutting edge VsI of the 1-pressure regulator 17 from the output 6' of the gain switch 13, and the cutting edge is manually applied to the motor 7. The adder 16 adds the servo deviation 6 and the output Vs2 of the pressure adjuster 18, and outputs the resulting output to the motor 8.

On the rotating shaft 3 (in addition, there is a speed detector 11 that detects the rotational speed).
are connected, and the output (Vo) is input to the window comparator 12. The output Vo of the window comparator 12 becomes the gate number of the gain switch 13. The circuit portion from the speed detector 11 to the gain switch 13 is the portion that characterizes the present invention.The loop from the position detectors 5 and 6 to the motors 7 and 8 is a symmetrical bilateral servo system.

The system leading from the force detector 9 to the motors 7 and 8 is a friction compensation circuit. When the operator moves the driving side arm 1, a servo deviation ε occurs, and a control signal is given to the driving side and driven side motors 7.8 to reduce this deviation. In this way, the position of the driven arm 2 is controlled, and at the same time, a reaction force proportional to the servo deviation ε is generated in the driving arm. The servo deviation 6 is proportional to the magnitude of the load applied to the driven arm 2. Therefore, a reaction force proportional to the load is generated on the active arm 1.

Here, if there is friction in the mechanism part on the drive side, the drive side arm 1
The operating force increases. If there is friction in the mechanism part on the driven side, the servo bias ε will increase and the reaction force transmission function will be impaired. For this purpose, the direction of the operating force of the driving side arm 1 is calculated in the form of the sign of the force change rate by the full force detector 15 and the direction discrimination circuit 10. Then, depending on the sign, v
Determine l+1. Further, Vsz is determined in the same manner on the driven side.

The portion indicated by the broken line in FIG. 2 is the portion that characterizes the present invention. Driving speed of the driving side arm 1: When it exceeds a certain threshold value X9, the gain G is determined by the system parameters. The gain of the gain switch 13 is determined so that Further, when the drive speed of the main driving arm 1 is less than x8, the gain GxkGo of the gain switch 13 is set to one to several tenths. If the servo deviation ε is ε1 when the driven arm 2 is stationary due to friction on the driven side, then the voltage applied to the motor due to this servo loose becomes G□ε1. Gain is turned off when stationary
The same tortoise pressure when there is no change is Goε1, and G1<G. That's why the operator feels the driven side stop! ! 1J111Il
Even if the sign of the compensation voltage changes due to a change in the operator's operating force or a disturbance when the arm 1 is stationary, the reaction force transmitted to the driving arm 1 becomes smaller, so the reaction force If G, + is determined so that the sign of the compensation voltage does not change, hunting will not occur for both the main and subordinate verbs.

Further, the threshold value x8 of the active side drive speed which determines the timing of gain switching may be set to a numerical speed at which the operator performs normal work.

As specific numerical values, it has been confirmed through experiments that there is no problem in practical use if G□=0 and the operating speed of the bag bottom is set to 0.5 to 2 crrv'S at the circumferential speed of the hand.

〔Effect of the invention〕

As described in detail above, according to the present invention, it is possible to prevent the nching on the driving side and the driven side that occurs due to the sign of the friction compensation voltage continuously switching when the motor is stationary, thereby improving operability. It has an improving effect.

[Brief explanation of the drawing]

Figure 1 is a diagram showing a friction force compensator according to the prior art;
The figure shows a frictional force compensator according to an embodiment of the present invention.

Claims (1)

[Claims] 1. a driving side arm, a first motor connected to the driving side arm, a driven side arm, and the driven side arm;
a second motor coupled to the slave arm;
means for detecting all deviations between the positions of the first motor and the second motor; a torque detector for detecting an external force acting on the driving side arm; A remote manual operation device comprising control means for generating torque in each of the motors in a direction opposite to the external force, further comprising: means f for detecting the rotational speed of the first motor, and the rotational speed exceeds a predetermined value. When
A remote manual operation device characterized in that a switching means is provided for switching the positional layer signal to a small value and inputting the same to the control means.