JPS63156672A - Force sensing expressing method of 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 The present invention relates to a force sensing system for a master/slave manipulator for assisting the operator in controlling the force by transmitting the force applied to the slave of the master/slave manipulator to the operator on the master side. Regarding the method of expression.

Such a master-slave manipulator is required, for example, when conducting undersea exploration using a deep-sea vessel or when operating a nuclear reactor.

In a unilateral type master-slave manipulator, each Y4 node of the master is provided with an axis angle detector such as a potentiometer, and the slave receives the detected angle by going up the axis angle detector. A drive source for driving the angular displacement of the wheel is provided, and therefore the slave is moved by operation by the operator on the master side.
In such a unilateral type master-slave manipulator, the master side cannot know the external force acting on the slave, and the operator cannot know the force sensation during operation of the slave.

A master-slave manipulator that solves this problem is known as a bilateral system.

Alternatively, in addition to the configuration of the unilateral master-slave manipulator described above, an axis angle detector is provided to detect the axis angle of the slave, and this output drives a drive source provided on the sleeve of the master. It is configured as follows. As a result, the external force acting on the slave due to the operation of the master is fed back to the master side, and the operator can directly feel the reaction force on the master side as a force sensation.

A new problem with this bilateral master-slave manipulator is that it has a complicated configuration. Another drawback is that the operator's sense of fine force becomes numb after prolonged operation, making it difficult to sensitively sense minute forces acting on the slave over a long period of time.

Problems to be Solved by the Invention An object of the present invention is to reduce the magnitude of the external force acting on the slave in a master/slave manipulator with a simple configuration.
Moreover, it is an object of the present invention to provide a method for expressing the force sensation of a master/slave manipulator that allows the operator to maintain a minute force sensation over a long period of time.

Means for Solving the Problems The present invention is a method for expressing the force sensation of a master/slave manipulator in which the sleeves of a slave move in response to the movements of the master, in which the sleeves of the slave move in response to the magnitude of the external force acting on the slave. This is a method of expressing the force sensation of a tour master/slave manipulator, which generates sound by changing the physical characteristics of the sound.

According to the present invention, the operator moves the master sleeve, and the shaft of the slave is worked in accordance with the movement of the master sleeve, and the sound generated is adjusted according to the magnitude of the external force acting on the slave. physical properties change. The external force acting on this slave is the gravitational force when an object is held by the slave's grip,
These include a reaction force when an object is grabbed by the gripping part, a reaction force when the slave collides with an obstacle, and a force applied from the outside when the slave is stationary. The physical characteristics of sound include the frequency of the sound, the interval between intermittent sounds, and the amplitude of the sound. In this way, the magnitude of the external force acting on the slave can be heard as a change in the physical characteristics of the sound, so the I! I,! The present invention can be implemented in this way, and the configuration can be simplified in this way. Moreover, since the operator can hear the sound and feel the force, the operator can operate the master over a long period of time while sensitively sensing minute changes in force, which is not related to the prior art described above. As I said, my senses will not be numb.

The present invention also provides an I! It can also be carried out in series.

Embodiment MS FIG. 1 is a diagram showing the overall structure of a unilateral master/slave manipulator according to an embodiment of the present invention. The master manipulator M has a plurality of (seven in this example) joints M1 to M7 provided on the base body 1, and among these joints M1 to M7, Tsumugi M1, M4
, MG are pivot joints, and the axis M2 . M3. M5 is a bending joint. The original grip part 2 is created by Tsumugi M7.

The master manipulator M is operated by the operator 3. These 1111MI-M7 are interconnected by arms.

The slave manipulator S is mounted on the base 4,
It has sleeves S1 to S7, pongee S1, S4, S6 are pivot joints, pongee S2, S3, S5,
S 7 are bending joints, these are connected by arms. A grip portion 5 is attached to the pongee S7. The axes M1 to "M7" of the master manipulator M individually correspond to the axes S1 to S7 of the slave manipulator S.The master manipulator M and the slave manipulator S are electrically connected by the control [iG]. In response to the operation of the master manipulator M by the operator 3, the slave manipulator 5IJt!lJl<.

FIG. 2 is a block diagram showing a specific configuration of the control device 6. As shown in FIG. Each of master manipulator M and slave manipulator S 1tl1M 1 to M7. Seven axis control l systems 01 to C7 are provided corresponding to S1 to S7. Tsumugi M
In the axis control system C1 corresponding to the master manipulator M, an output indicating the position on the master side is output from the axis angle detector M1a, such as a potentiometer, provided at the transducer M1 of the master manipulator M. It is applied to a subtraction circuit 10 in a control circuit 9. The subtraction circuit 10 is also supplied with an output from a shaft angle detector Sla provided in the pongee S1 of the slave manipulator S via a line 11. Subtraction circuit 10 subtracts the output of line 11 from the output of line 8 to derive a signal on line 12 representing the positional deviation. The output of line 12 is given to hydraulic servo amplifier 14 from adder circuit 13 . The output of the hydraulic servo amplifier 14 is given to the servo pulp 15 of the slave manipulator S, thereby driving the hydraulic actuator S1b, which is a drive source.

In the control circuit 9, the signal on line 8 is also applied to a differentiating circuit 16 for differentiation, and its output is applied to an adding circuit 13. This provides feedforward assistance to reduce steady-state speed deviations.

When the forger 3 manipulates the master manipulator M, the shaft angle detector Mla detects the rotation shaft angle of the pongee M1. As a result, the actuator 5ill provided on the sleeve S1 of the slave manipulator S is driven by an angle corresponding to the positional deviation represented by the output from the subtraction circuit 10. The rotation axis angle detected by the axis angle detector 81m provided in the sleeve S1 is the same as that of the aforementioned axis angle detector Ml.
so that it is the same as the rotation axis angle detected by a,
In other words, it operates so that the positional deviation output of the subtracting circuit 10 becomes zero. As a result, the slave manipulator S performs the same movement as the master manipulator M. The remaining joints also have a similar configuration.

The position deviation output from the axis control I system C1 to C6 is line!
1~! 6 to the first acoustic circuit 17. Moreover, the sleeve M7. S
The position error output from the axis control system C7 for 7 is given to the second acoustic circuit 18 via line 17.

FIG. 3 is a block diagram showing a specific configuration of the fjS1 acoustic circuit 17. line! Axis control IAC via 1
The difference output from 1 (i! (Ii! The output from the absolute value circuit 19 is given to a dead band circuit 20.The dead band circuit 20 is configured so that the output from the absolute value circuit 19 is as shown in FIG. When the predetermined value (1) is less than 1, the output of the dead band circuit 20 is set to zero, and when the value is greater than or equal to 71, a signal having an output level corresponding to the input value is derived.Remaining lines!2~ 16 has a similar configuration.The output from the dead band circuit 20 is
The position error outputs of the respective axis control systems C1 to C6 are added to an adding circuit 21.

The dead zone circuit 20 is provided in order to eliminate the effects of positional deviation caused by frictional force and gravity on each axis.

The output from the adder circuit 21 is sent to the voltage/frequency converter circuit 22.
The output level of the adder circuit 21 is converted to a corresponding frequency.The output of the voltage/frequency conversion circuit 22 is applied to one of the AND dates 23.

The other input of the AND date 23 is given the oscillation output from the oscillation circuit 24 .

FIG. 6(1) shows the output waveform of the voltage/frequency conversion circuit 22, and the output frequency of this circuit 22 is, for example, 0 to 20.
It varies over a range of 0 Hz. The output waveform of the oscillation circuit 24 is, for example, 5, as shown in FIG. 6(2).
KHz degree. As shown in FIG. 6(3), the output waveform of the AND date 23 is derived at a cycle IT in which a frequency of 5 kHz is output for a time T1 and paused for a time T2. This period T corresponds to the output frequency of the voltage/frequency conversion circuit 22, and may be T1=72. The output of the AND date 23 is sent to the amplifier circuit 24 at 17. and is sounded by Subee fJ25.

Therefore, when the positional deviation in the axis control systems 01 to 07 is small, the output level of the adding circuit 21 is small, and therefore the output frequency of the voltage/frequency conversion circuit 22 is low (,
Therefore, if the circumference MT of the sound output from the speaker 25 is large and the position deviation becomes large, the voltage/frequency conversion circuit 2
The output frequency of 2 becomes high (and therefore the period T of the sound becomes small).

In this way, the promoter 3 can know the positional deviation of the tsumugi S1 to S6 in the slave manipulator S based on the intervals of the sounds. This positional deviation is equivalent to each wheel S1 to S86.
It can be considered as an external force acting on the Therefore, the seventh
As shown in the figure, as the external force increases in accordance with the magnitude of the external force acting on each axis S1 to S6, the period T becomes smaller, and thereby the operator 3 knows the force acting on each axis S1 to S86. becomes possible.

As another embodiment of the present invention, the period T is constant and the time TI
, T2, that is, the duty may be changed to obtain a force sensation.

FIG. 8 is a block diagram showing a specific configuration of the second acoustic circuit 18. Axis angle detector M7a of axis S7 provided in relation to gripping part 5 in slave manipulator S
The positional deviation between the axis angle detector M7a of the transfer M7 and the axis angle detector M7a provided in relation to the gripping part 2 of the master manipulator M is determined by the line J? from the axis control system C7. 7 to the absolute value circuit 27 of the second acoustic circuit 18 , and the output of the absolute value circuit 27 is provided to the dead zone circuit 28 . Also η of the absolute value circuit 27
Alternatively, it has the same configuration as the above-mentioned absolute value circuit 19, and the dead zone circuit 28 has the same structure as the above-mentioned insensitive circuit 20. The output of the emotionless circuit 28 is given to a voltage/frequency conversion circuit 29, and the output frequency is changed to, for example, OHz.
~15! It is converted into a signal that changes in the range of Iz. The outputs from the two voltage/frequency conversion circuits are amplified by an amplifier circuit 30 and amplified by a speaker 31. Therefore, as the positional deviation of the grip g5 on the axis S7 increases, that is, as the external force acting on the grip part 5 increases, the voltage/frequency conversion circuit 29
The output frequency of is increased and its operation is as shown in FIG. The output waveform of the voltage/frequency conversion circuit 29 is shown in FIG.

Moreover, when the operator 3 grasps the grip part 2 of the master manipulator M, the slave manipulator S
The magnitude of the external force acting on the grip portion 5 of is heard by the operator 3 as a change in frequency. This allows the user to intuitively know the gripping force of the gripping portion 5.

In the above embodiment, the output interval and frequency of the sound were changed, but in other embodiments, the amplitude of the sound, that is, the sound pressure level, changes depending on the magnitude of the external force acting on the slave manipulator S. The sound pressure level may be changed so that as the value increases, the sound pressure level increases.

As still another embodiment of the present invention, the period T of signals having mutually different frequencies may be changed in correspondence with the axes 81 to 86 individually in the first acoustic circuit 17 (such as this). By doing so, the operator 3 can individually know the positional deviation of the transports S1 to S6, and therefore the magnitude of the external force.

Furthermore, as another embodiment of the present invention, different frequencies are made to correspond to each of the X, Y, and Z directions in the gripping part 5 of the slave manipulator S, and the period T of this frequency is adjusted depending on the magnitude of the external force. It may also be configured to change.

As still another embodiment of the present invention, the amplifier circuits 2t, 30
It is also possible to simplify the configuration by using the speakers 25 and 25.31 in common. For this purpose, for example, the output of the voltage/frequency conversion circuit 29 may be provided to the amplifier circuit 24.

In the above embodiment, the magnitude of the external force acting on the slave manipulator was detected as the magnitude of the positional deviation. However, as an embodiment of the present invention, a strain sensor is attached to the arm of the slave manipulator S to detect the external force. It may be possible to directly detect the magnitude of V
! The external force may be detected by the structure.

FIG. 11 is a block diagram of yet another embodiment of the present invention. This embodiment shows a configuration related to one axis, for example, Ml and Sl, of a pi-2-chiral master-slave manipulator, and the remaining sleeves have a similar configuration. Corresponding parts of the embodiments described above are provided with the same reference numerals.

In this embodiment, the master manipulator M is also provided with a driver M 113 and an amplifier circuit 33.
driven by. Differential circuit 161.

162 and adder circuits 131 and 132 are provided to perform feedforward control for speed compensation.

Coefficient circuits 34 and 35 are also provided. The output of the subtraction circuit 10 is derived from line No. 1 as a signal representing the positional deviation and therefore the external force. The other configurations are similar to those of the previous embodiment.

In such a pirate-type master-slave manipulator, the operator 3 can directly feel the reaction force fed back to the master manipulator M side as a force sensation, and the operator 3 can also feel the reaction force fed back to the master manipulator M side. The magnitude of the sound can be understood as a change in the physical characteristics of the sound. Therefore, even if the operator 3 loses his delicate sense of force due to paralysis due to long-term operation, the operator 3 will still be able to handle the slave's external force! This enables the slave manipulator S to be moved with minute changes in force.

The master/slave manipulator of the unilateral method may have a structure other than that shown in FIG. 11, and the present invention is applicable not only to the unilateral method,
A wide variety of methods can be implemented in connection with such a bilateral force type master/slave manipulator.

Effects As described above, according to the present invention, with a simple configuration, it becomes possible to detect the magnitude of external force on the slave side as a change in the physical characteristics of the blind.

[Brief explanation of the drawing]

Figure m1 is a diagram showing the overall structure of a unilateral master/slave manipulator according to an embodiment of the present invention.
153 is a block diagram showing the specific structure of the first acoustic circuit 17, and FIG. 4 explains the operation of the absolute value circuit 19. FIG. 5 is a diagram for explaining the operation of the dead band circuit 20, and FIG. 6 is a diagram for explaining the operation of the first acoustic circuit 17 shown in FIG. 3.
The waveform diagram fjS7 is a diagram showing the positional deviation in the axis control system C1 to CG, and therefore the relationship between the magnitude of the external force of the slave and the sound output interval period T. A block diagram showing the specific electrical configuration of the acoustic circuit 18, FIG. 9 is a diagram showing the relationship between the magnitude of the external force of the axis control system C7 and the output of the dead band circuit 28, and FIG.
FIG. 11, which is a diagram showing the output waveform of the frequency conversion circuit, shows that the present invention is I51! FIG. 2 is a block diagram of an example of a master/slave manipulator of a bilateral system that is implemented in series. 2.5... Gripping part, 3... Operator, 6... Control device, 14... Servo amplifier, 15... Servo valve, 17... First acoustic circuit, 18... a second acoustic circuit;
M...Master manipulator, M1~MG...Sleeve,
Mla-Moa...Axis angle detector, Mlb...Drive source, S...Slave manipulator, 81-87...
・Sleeve, 5la-87a,・, Axis angle detector, 5ift-
671+... Actuator agent Patent attorney Number of strokes Kei Engraving of the drawings (61 of them are unchanged) Figure 3 n Figure 6 Figure 7 Procedural amendment (method) April 3, 1988

Claims (1)

[Claims] In a method for expressing the force sensation of a master/slave manipulator in which the axis of a slave moves in accordance with the movement of the axis of the master, the physical characteristics of sound correspond to the magnitude of an external force acting on the slave. A method for expressing the force sensation of a master/slave manipulator, which is characterized by generating sound by changing the force.