JPS6133877A - Controller for 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 [Field of the Invention] The present invention relates to a control device for a master-slave type bilateral servo manipulator.

[Prior art and its problems]

There is a master-slave manipulator with excellent operability that uses line-of-force circular bilateral servo, and among these, there is a digital servo method that uses motor torque to compensate for the arm's own weight. FIG. 2 shows an example of the digital servo controller, in which 8 represents the slave side and %M represents the master example. 1 and 5 are actuators composed of a motor and a speed reducer, and 2 and 6 are torque sensors.

3.7 is a position sensor, and 4 and 8 are amplifiers. 9.10 is the input A/D converter, 11 is the output D
/A converter is shown.

In this figure, a torque command is given to the first motor on the slave side in a torque command routine 12 based on the deviation number from the rotation angle of the corresponding i-th motor shaft on the master side. On the other hand, in order to compensate for the arm's own weight, the master side arm calculates its own weight torque from the joint angle, calculates the bilateral torque from the slave arm torque and the self-weight torque,
The master arm driving torque must be calculated. In Figure 2, 13.14 is the motor shaft rotation angle θ
MllθM21...θ,. ,θ,1. θ5□,...
15.16 is a routine for calculating the dead weight torque at the joint, 17.18 is a motor shaft torque conversion routine, 19.20 is a torque conversion routine for Dorxe/Buu output, and 21 is a pilateral return. 22 is a motor shaft torque calculation routine, and 23 is a deviation torque calculation routine. With digital servos like this, the more degrees of freedom there are, the longer the calculation processing time will be.

There was a problem that the sampling period became long and the response performance deteriorated.

[Purpose of the invention]

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a force-returning circular servo manibulator with excellent operability.

[Summary of the invention]

The present invention uses an analog servo based on position deviation to drive the slave arm, and a digital servo to calculate the arm's own weight torque to drive the master arm for calculation processing and input/output.

Saving processing time for A/D, D/A, etc. is thus achieved.

〔Effect of the invention〕

According to the present invention, it is possible to save time for calculating positional deviation, DA conversion, output processing time, etc. for driving the slave side arm. Therefore, the period of drive torque calculation and input/output processing of the master side arm is shortened, and the response is smooth.

In addition, for the gripping part that does not require self-weight compensation, by adopting an analog servo on the master side, the gripping operation that requires the most responsiveness is smoothed out, and at the same time, the sampling and output cycle of the arm part is further shortened. Overall responsiveness is further improved.

[Embodiments of the invention]

FIG. 1 is a servo block diagram showing an embodiment of the present invention, where Si indicates the slave side and M indicates the master side. Routines with the same functions as those in FIG. In FIG. 1, the calculation routine 12 and the resulting D/A conversion routine in FIG. 2 are omitted. This calculation is performed by an analog arithmetic unit 24. Therefore, the /φ time and the calculation time are omitted, and at the same time, the slave side arm is smoothly driven.

For finger parts that do not require gravity compensation, both the master and arm perform analog servo, which further reduces the processing time.

It enables smooth movement of the fingers for sensitive work.

[Brief explanation of the drawing]

FIG. 1 is a servo block diagram of an arm driving section according to the present invention, and FIG. 2 is a conventional digital servo block diagram. 1.5... Actuator, 2.6... Torque detector, 3, 7... Position detector, 4, 8... Servo amplifier, 9.10.11... Input/output device, 12 ~23...
・Various calculation routines, 24... Analog calculation device.

Claims (2)

[Claims] (1) In a bilateral servo manipulator in which the master arm and slave arm are configured with the same degree of freedom and part or all of the force applied to the slave arm is returned to the master arm, the drive of the slave arm is analog based on position deviation. A control device for a master-slave manipulator, characterized in that the master arm is driven by a servo, mainly using a digital servo for automatic arm compensation. (2) The control device for a master-slave manipulator according to claim 1, wherein the gripping portion is driven by analog bilateral servo on both the master and slave.