KR100337427B1 - System and machinery for remote controlling robot - Google Patents

Abstract

The present invention precisely controls the operation of the robot by rotating the first to sixth arms freely while the sixth arm is simply mounted by the operator's hand without separately worn on the operator's body, and accurately controls the sixth arm. By mounting the seventh arm using the indexer of the operator in the mounted state, it is possible to accurately control the operation of the gripper of the robot, and additionally, the general purpose of controlling most robot operations used in the industry with a single mechanism. It provides a remote control mechanism and a remote control system using the same.

Description

Robot remote control mechanism and remote control system using the same {SYSTEM AND MACHINERY FOR REMOTE CONTROLLING ROBOT}

The present invention relates to a remote control mechanism of a robot and a remote control system using the same, and more specifically, the first to sixth arms in a state in which the sixth arm is simply mounted by the operator's hand without being worn separately on the operator's body. Freely rotates the robot to accurately control the operation of the robot, and by rotating the seventh arm using the indexer of the operator with the sixth arm mounted, it is possible to accurately control the operation of the gripper of the robot. The present invention relates to a remote control mechanism of a robot having a general purpose such as controlling the operation of most robots used in the industry as a single mechanism, and a remote control system using the same.

As is well known, robots are mainly used in industrial production processes such as welding, assembly, and painting, but recently, robots are actively used in science, education, industry, military, and medical fields.

Robots used in the above-mentioned science, education, industry, military, and medical fields are remotely controlled by a remote control system developed due to the development of electronic technology. Such remote control systems are sensors and actuators for detecting motion. And a controller configured to have a degree of freedom of about 3 degrees, and a control means for receiving a signal output from a sensor provided in the control means so as to move the robot according to the movement of the manipulator.

By the way, there are universal hand controllers, MIT's hand controllers, and arm-mounted remote controllers as remote controllers, but most of them are configured to have three degrees of freedom so that the gripper is actually mounted in the three-dimensional space. There is a problem that can not precisely control the operation of the robot because it is greatly restricted in determining the position and direction of the robot.

An example of the prior art for solving the above problems is described in Korean Patent Publication No. 1999-66026.

When the configuration of this is outlined, the remote control mechanism for controlling the slave robot is provided with 7 degrees of freedom by providing the arm joint, the back joint of the hand and the upper arm rotation link similar to the human arm, and the arm joint, the back joint of the hand, upper arm rotation The deformation sensor is attached to the link part to recognize the direction of movement, and each motor rotates in the direction in which the operator intends to move according to the signal output from the deformation sensor, thereby reducing the fatigue of the operator and the slave robot. It is moved in the same motion as that of the movement, so it has excellent realism. Also, by using the semicircular shoulder fixing, Habaking fixing and hand fixing, the remote control device can be easily attached and detached. The weight can be reduced.

By the way, according to the prior art configured as described above, in order to accurately control the operation of the robot, the remote control mechanism must always be worn on the arm of the operator, there is an inconvenience that must be removed when not in use.

In addition, the operator wearing the remote control mechanism to control the operation of the robot also had a problem that the physical feeling of wearing rejection.

In addition, the remote control mechanism according to the prior art had a problem that must be manufactured separately to match the size of the arm of the operator.

The present invention was devised to solve the above problems, and by freely rotating the first to sixth arms in a state in which the sixth arm is simply mounted by the operator's hand without being worn separately on the operator's body, It controls the robot's movement accurately, and by controlling the robot's index finger by rotating the seventh arm with the sixth arm installed, the robot's gripper can be precisely controlled and the robot gets caught in obstacles during operation. By controlling the motor to cope with the resistance of obstacles, the operator can recognize it, and additionally, a remote control mechanism of a robot having general purpose such as controlling the operation of most robots used in the industry as a single mechanism and The purpose is to provide the remote control mechanism used.

1 is a perspective view showing the appearance of a remote control mechanism of the robot according to the present invention.

Figure 2 is a cross-sectional view showing the internal configuration of the remote control mechanism of the robot according to the present invention.

Figure 3 is an enlarged view showing the internal configuration of the base of the remote control mechanism according to the present invention in FIG.

Figure 4 is an enlarged view showing the coupling relationship between the first arm and the second arm of the configuration of the remote control mechanism according to the present invention in FIG.

5 is an enlarged view of the configuration of the third arm of the configuration of the remote control apparatus according to the present invention in FIG.

FIG. 6 is an enlarged view of the coupling relationship between the fourth to seventh arms in the configuration of the remote control mechanism according to the present invention in FIG. 2; FIG.

7 is a block diagram showing the configuration of a robot remote control system according to the present invention.

<Description of the symbols for the main parts of the drawings>

100: base 200: first arm

210: fixed plate 220: support plate

300: second arm 400: third arm

500: fourth arm 600: fifth arm

700: sixth arm 800: seventh arm

150,250,350,450,550,650,750: 1st ~ 7th motor

151,251,351,451,551,651,751: motor shaft

160,260,360,460,560,660,760: first to seventh sensing means

140,240,340,440: 1st to 4th rotation axis

900 control means 910 pulley

920: Timing Belt

Remote control mechanism of the robot according to the present invention for achieving the above object, the remote control mechanism of the remote control system configured to remotely control the operation of the robot, the base is fixed to any space structure; A first arm rotatably installed on one side of the base; A second arm rotatably installed at an end of the first arm, the intermediate portion being rotated to become a plane different from the plane of rotation of the first arm; A third arm rotatably installed at one end of the second arm, the third arm being rotated to become the same plane as the rotation plane of the second arm; A fourth arm whose one end is rotatably provided at one end of the third arm and rotated to become a plane different from the plane of rotation of the third arm; A fifth arm rotatably mounted at one end of the fourth arm to be in a plane different from the plane of rotation of the fourth arm; A sixth arm whose one end is rotatably provided at the other end of the fifth arm and rotated to become a plane different from the plane of rotation of the fifth arm; And a seventh arm rotatably provided at the other end of the sixth arm and rotated to become the same plane as the rotation plane of the sixth arm.

Remote control system of the robot according to the present invention for achieving the above object, the base is fixed to any space structure; A first arm rotatably installed on one side of the base; A second arm rotatably installed at an end portion of the first arm such that the intermediate portion is rotated such that the first arm becomes a plane different from the plane of rotation; A third arm rotatably installed at one end of the second arm, the third arm being rotated to become the same plane as the rotation plane of the second arm; A fourth arm whose one end is rotatably provided at one end of the third arm and rotated to become a plane different from the plane of rotation of the third arm; A fifth arm rotatably mounted at one end of the fourth arm to be in a plane different from the plane of rotation of the fourth arm; A sixth arm whose one end is rotatably provided at the other end of the fifth arm and rotated to become a plane different from the plane of rotation of the fifth arm; A seventh arm rotatably provided at the other end of the sixth arm and rotated to become the same plane as the rotation plane of the sixth arm; Angle of rotation of the first arm relative to the base, angle of rotation of the second arm relative to the first arm, angle of rotation of the third arm relative to the second arm, angle of rotation of the fourth arm relative to the third arm, First to seventh sensing means for separately detecting a rotation angle of the fifth arm with respect to the fourth arm, a rotation angle of the sixth arm with respect to the fifth arm, and a rotation angle of the seventh arm with respect to the sixth arm, respectively. and; And a control means for receiving a signal output from the first to seventh sensing means and outputting a control signal to remotely operate the robot.

Hereinafter, a remote control mechanism of a robot and a remote control system using the same according to a preferred embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7.

1 is a perspective view showing the appearance of a remote control mechanism of the robot according to the present invention, Figure 2 is a cross-sectional view showing the internal configuration of the remote control mechanism of the robot according to the present invention, Figure 3 is a view of the present invention in Figure 2 FIG. 4 is an enlarged view of the internal configuration of the base of the remote control mechanism according to the present invention. FIG. 4 is an enlarged view of a coupling relationship between the first arm and the second arm of the remote control mechanism according to the present invention. 5 is an enlarged view of the configuration of the third arm in the configuration of the remote control mechanism according to the present invention in FIG. 2, and FIG. 6 is a fourth to third configuration of the remote control mechanism according to the present invention in FIG. 2. 7 is an enlarged view of the coupling relationship between the seventh arms, and FIG. 7 is a block diagram showing the configuration of a remote control system for a robot according to the present invention.

As shown, the configuration of the remote control mechanism of the robot according to the present invention, the base 100 is fixed to any space structure, and the first arm 200 is rotatably installed on one side of the base 100 And a second arm 300 rotatably installed at an end of the first arm 200 and rotated to become a plane different from the plane of rotation of the first arm 200, and one end of the second arm 300. A third arm 400 rotatably installed at one end of the third arm 400, the third arm 400 being rotated to become the same plane as the rotation plane of the second arm 300, and the third arm 400 being rotatably installed at one end of the third arm 400. The fourth arm 500 which is rotated to become a plane different from the plane of rotation of 400, and one end thereof is rotatably installed at the other end of the fourth arm 500 to be different from the plane of rotation of the fourth arm 500. The fifth arm 600 and the one end is rotatably installed on the other end of the fifth arm 600 And the sixth arm 700 which is rotated to be a plane different from the rotation plane of the fifth arm 600, and is rotatably installed at the other end of the sixth arm 700, so as to be rotatable with the rotation plane of the sixth arm 700. And a seventh arm 800 which rotates to be in the same plane.

The configuration of the remote control system using the remote control mechanism of the robot according to the present invention configured as described above is a rotation angle of the first arm 200 with respect to the base 100, a second arm with respect to the first arm 200 ( Rotation angle of 300, rotation angle of the third arm 400 with respect to the second arm 300, rotation angle of the fourth arm 500 with respect to the third arm 400, the fourth arm 500 Rotation angle of the fifth arm 600 relative to the rotation angle of the sixth arm 700 relative to the fifth arm 600, rotation angle of the seventh arm 800 relative to the sixth arm 700). Control means for outputting a control signal to remotely operate the robot by receiving the signals output from the first to seventh sensing means 160, 260, 360, 460, 560, 660, 760 and the first to seventh sensing means 160, 260, 360, 460, 560, 660, 760, respectively. 900).

As described above, by providing only the first to seventh sensing means (160,260,360,460,560,660,760) and the control means (900), the control means (900) by detecting the rotation angle of the first to seventh arms (160,260,360,460,560,660,760) constituting the steering mechanism Through the operation of the robot can be controlled.

And, in addition to the direction of the force applied to the first to seventh arm (200,300,400,500,600,700,800) in accordance with the operating state of the robot remotely operated by the signal output from the control means 900 Force echo generating means for applying force to the first to seventh arms, that is, means for applying a load to the rotation of the first to seventh arms may be further provided.

As described above, the reason why the force echo generating means is further provided is to allow the operator to realistically recognize when the robot is caught by an obstacle while the robot is operating.

The force echo generating means includes a first arm 200 for the base 100, a second arm 300 for the first arm 200, and a third arm for the second arm 300. 400, the fourth arm 500 for this third arm 400, the fifth arm 600 for this fourth arm 500, the sixth for this fifth arm 600. The arm 700 consists of first to seventh motors 150, 250, 350, 450, 550, 650 and 750 for respectively rotating the seventh arm 800 with respect to the sixth arm 700.

Hereinafter, the most preferred embodiment of the present invention is provided with all the remote control mechanism, the sensing means, the control means and the force echo generating means configured as described above.

The base 100 has a square attachment plate 101 fixedly attached to an arbitrary space structure, a spacer plate 102 fixed perpendicularly to four sides of the attachment plate 101, and the spacer plate 102. It consists of the support plate 103 fixedly attached to the edge part, and the external appearance has a rectangular case shape.

The base 100 configured as described above is fixedly attached to any space structure such as a ceiling or a floor by the attachment plate 101.

The first rotating shaft 140 is rotatably installed on one side wall of the base 100, preferably the support plate 103, one end of which is outside the support plate 103, and the other end of which is the base 100. ) Is installed to protrude into the inside.

Here, as shown in the drawing, the first rotation shaft 140 will be described taking an example of being installed orthogonal to the support plate 103.

The first arm 200 is fixed to the first rotation shaft 140 protruding outward of the support plate 103 to rotate in the axial direction of the first rotation shaft 140.

Here, a configuration in which the first arm 200 may be rotated by the first rotation shaft 140 will be described below.

The first motor 150 is fixed to the middle plate 104 provided in the base 100, and the motor shaft 151 and the first rotation shaft 140 of the first motor 150 are pulleys 910. ) And a timing belt 920 are installed to enable power transmission, and an encoder is provided at the rear end of the motor shaft 151 of the first motor 150.

On the other hand, the first arm 200 is a fixed plate 210, the end of the first rotating shaft 140 is inserted and fixed, and is integrally formed vertically on both ends of the fixing plate 210, the second arm 300 is interposed The end is composed of a pair of support plates 220 spaced apart by a predetermined interval.

The support plate 220 is formed to form a 'symmetric' symmetry with each other, a predetermined rotation space is formed between the support plate 220.

The second arm 300 is rotatably installed at the end of the support plate 220 via the second rotation shaft 240, and a part of the second arm 300 is positioned in the space between the support plates 220. , The remaining part is installed to be outside the support plate 220.

As described above, since the second arm 300 is installed in the first arm 200, the rotation plane of the second arm 300 is formed differently from the plane in which the first arm 200 is rotated.

As described above, the rotation planes of the first arm 200 and the second arm 300 are different from each other because the first rotation shaft 140 and the second rotation shaft 240 are not on the same axis.

For example, when the first rotation axis 140 is set to the Z axis in the three-dimensional rectangular coordinates, the second rotation axis 240 is provided to be the Y axis or the X axis.

By the correlation between the first rotary shaft 140 and the second rotary shaft 240 as described above, the first arm 200 and the second arm 300 can implement two degrees of freedom.

Here, a configuration in which the second arm 300 may be rotated by the second rotation shaft 240 will be described.

A second motor 250 is fixed to an outer side of the second arm 300 corresponding to the space between the support plates 220, and the motor shaft 251 and the second rotation shaft 240 of the second motor 250 are fixed. The power is installed to be capable of transmitting power through the pulley 910 and the timing belt 920, and the encoder, which is the second sensing means 260, is provided on the motor shaft 251 of the second motor 250.

Meanwhile, the third arm 400 is connected to one end of the second arm 300 via the third rotation shaft 340, and the third rotation shaft 340 is positioned with the second rotation shaft 240. Are installed to be different but in the same direction of rotation.

That is, the third arm 400 and the second arm 300 are rotated on the same plane, although the positions of the third arm 400 and the second arm 300 are different by the correlation between the third rotation shaft 340 and the second rotation shaft 240.

Here, a configuration in which the third arm 400 may be rotated by the third rotation shaft 340 will be described.

The third motor 350 is fixedly installed outside the second arm 300, and the motor shaft 351 and the third rotation shaft 340 of the third motor 350 are pulleys 910 and the timing belt 920. The power transmission is installed through the medium, and the motor shaft 351 of the third motor 350 is provided with an encoder which is the third sensing means 360.

By the connection configuration of the first arm 200, the second arm 300 and the third arm 400 as described above it is possible to implement three degrees of freedom.

On the other hand, the fourth arm 500 is formed in a shape bent at a predetermined angle, preferably a 'b' shape so that one end portion of the fourth arm 500 through one end of the third arm 400 via the fourth rotation shaft 440. Connection is installed.

A fourth motor 450 is fixedly installed at the other end of the third arm 400, and the transmission shaft 410 is rotated in the third arm 400 at the motor shaft 451 of the fourth motor 450. Is installed, the transmission shaft 410 and the fourth rotating shaft 440 is installed to enable power transmission via the pulley 910 and the timing belt 920, the motor shaft of the fourth motor 450 An encoder which is the fourth sensing means 460 is provided.

Here, the position of the fourth rotation shaft 440 and the third rotation shaft 340 is set to be rotated on a different plane from each other, and the fourth arm 500 and the third arm 400 are correlated by their correlations. Are formed on different planes, and thus, the first arm 200, the second arm 300, the third arm 400, and the fourth arm 500 may finally realize four degrees of freedom.

Meanwhile, a fifth motor 550 is fixedly installed at the other end of the fourth arm 500, and the fifth arm 600 is formed in a shape bent at a predetermined angle, preferably in a '-' shape. An additional fifth motor 550 is fixedly installed on the motor shaft 551, and the motor shaft 551 of the fifth motor 550 is provided with an encoder, which is the fifth sensing means 560.

Here, the positions of the motor shaft 551 and the fourth rotation shaft 440 of the fifth motor 550 are set to be rotated on different planes. The fourth arm 500 is rotated on different planes, which causes the first arm 200, the second arm 300, the third arm 400, the fourth arm 500 and the fifth arm 600. Is finally able to implement 5 degrees of freedom.

Meanwhile, the sixth arm 700 is formed in a cylindrical shape with a predetermined diameter so that one end thereof is rotatably installed at the other end of the fifth arm 600, and the sixth motor 700 is formed inside the sixth arm 700. 650 is housed and the motor shaft 651 is fixedly installed at the other end of the fifth arm 600, the encoder of the sixth sensing means 760 is provided on the motor shaft of the sixth motor 650.

Here, the position of the motor shaft 651 of the sixth motor 650 and the motor shaft 551 of the fifth motor 550 is set so as to rotate on different planes. The six arms 700 and the fifth arm 600 are rotated on different planes, which causes the first arm 200, the second arm 300, the third arm 400, the fourth arm 500, The fifth arm 600 and the sixth arm 700 are finally able to implement six degrees of freedom.

Here, the sixth arm 700 can be mounted by the operator by hand, and the shape of the hand at the time of mounting is similar to the shape at the time of shooting the pistol.

In other words, the sixth arm 700 is surrounded by the fingers and palms other than the thumb and index finger.

Meanwhile, the seventh arm 800 is connected to the sixth arm 700 by a connecting part 810 and a gripper part 820 vertically fixed to an end of the connecting part 810. It is shaped like a child.

The seventh motor 750 is accommodated and disposed inside the sixth arm 700, and the motor shaft 751 is fixedly installed at the connecting portion 810 of the seventh arm 800, and the seventh motor 750 may be disposed. The motor shaft 751 is provided with an encoder which is a seventh sensing means 760.

As described above, the seventh arm 800 is provided on the sixth arm 700, so that the operator may cover the sixth arm 700 with the index finger while holding the sixth arm 700 with the fingers and palms except for the thumb and the index finger. The gripper portion 820 of the 800 can be operated left and right.

Here, the lengths of the first arm 200, the second arm 300, and the third arm 400 are not particularly limited, and the encoders used as the first to seventh sensing means are incremental encoders (incremental). It is preferable to use an encorder, an absolute encoder, and the detailed configuration and operating principle of this incremental encoder are generally well known, and thus, further description thereof is omitted.

In the drawings, member numbers of bearings for smoothly rotating the first to fourth rotating shafts are not described.

Reference numeral 930 is a gravity compensation means for reducing the operator's operating burden and gravity compensation due to the weight imbalance.

Referring to the operation and action according to the present invention configured as described above are as follows.

First, the general control sequence of the control mechanism according to the present invention, the first arm 200, the second arm 300 in the state in which the operator wrapped the sixth arm 700 with the fingers and palms except for the thumb and index finger. And a first step of determining the position of the remotely controlled robot using the third arm 400, and after performing the first step, the fourth arm 500, the fifth arm 600, and the sixth arm ( A second step of finally determining a posture of the remotely controlled robot using 700 and a third step of controlling a gripper of the remotely controlled robot using the seventh arm 800 after performing the second step. Is made of.

Here, for the convenience of the operator's operation, the order of the second and third steps may be reversed.

In the first step, the operator rotates the third arm 400 by a predetermined angle with respect to the second arm 300 while the operator mounts the sixth arm 700 and then pulls the operator's arm forward or backward. When the second arm 300 is rotated by a predetermined angle with respect to the first arm 200 by pushing, the first arm 200 is rotated by a predetermined angle with respect to the base 100 while maintaining the above state. Three degrees of freedom are implemented.

As described above, when the first arm 200, the second arm 300, and the third arm 400 are rotated, respectively, the first motor may be driven by the pulley 910 and the timing belt 920 which are power transmission means. 150, the motor shafts 151, 251, and 351 provided in the second motor 250 and the third motor 350 rotate without load.

In this case, the encoders constituting the first sensing means 160, the second sensing means 260, and the third sensing means 360, respectively provided on the motor shafts 151, 251, and 351, respectively, may include a first arm 200, a first arm. The rotation angles of the second arm 300 and the third arm 400 are detected and input to the control means 900.

Subsequently, the process of the second step is to rotate the fourth arm 500 at a predetermined angle with respect to the third arm 400 while the operator has mounted the sixth arm 700 and then remove the fifth arm 600. After rotating the fourth arm 500 by a predetermined angle, and then rotating the sixth arm 700 by a predetermined angle with respect to the fifth arm 600, three degrees of freedom are finally realized.

As described above, when the fourth arm 500, the fifth arm 600, and the sixth arm 700 are rotated, respectively, the pulley 910, the timing belt 920, and the motor shafts 651 and 751, which are power transmission means, are rotated. As a result, the motor shafts 451, 551, 651 provided in the fourth motor 450, the fifth motor 550, and the sixth motor 650 rotate without load.

At this time, the encoders constituting the fourth sensing means 460, the fifth sensing means 560, and the sixth sensing means 660, which are respectively provided on the motor shafts 451, 551, 651, respectively, may include a fourth arm 500, The rotation angles of the fifth arm 600 and the sixth arm 700 are detected and input to the control means 900.

Lastly, in the third step, when the manipulator rotates the gripper part 820 of the seventh arm 800 from side to side with the index finger, the motor shaft 851 of the seventh motor 750 rotates without load. do.

At this time, the encoder constituting the seventh sensing means 760 provided in the motor shaft 851 detects the rotation angle of the seventh arm 800 and inputs it to the control means 900.

As described above, when the detected values of the first to seventh sensing means 160, 260, 360, 460, 560, 660 and 760 are input to the control means 900, the control means 900 interprets the static kinematics and interprets the interpreted values in the robot 950. Is transmitted to the driving means 951 side in charge of the operation.

In this case, the robot is operated according to the operator's operation state, and moreover, it is possible to precisely control the gripper operation of the robot.

Therefore, the present invention should always be worn on the operator's arm in order to accurately control the operation of the robot generated in the prior art, and when not in use to remove the inconvenience and remote operation to control the operation of the robot The operator wearing the instrument can easily control the robot remotely with only the operator's hand while simultaneously solving the problem of physically feeling the wearing rejection and the problem of having to make it separately according to the size of the operator's arm.

On the other hand, as described above, if the robot 950 contacts or collides with the surrounding environment during remote control, the robot 950 may not operate or even excessive force is applied to damage the surrounding environment or the robot itself. On the sensing means 952 side, the force generated between the robot and the surrounding environment due to such contact and collision is initially detected or even calculated in advance before the collision and transmitted to the control means 900 of the present invention. The control means 900 drives each motor by converting the force represented by the value in the rectangular coordinate space through the Jacobian transposition into the torque to be exerted by the first to seventh motors on the casting machine side, respectively.

As a result, the load of the force input to the control means 900 is applied to the movement of the operator to recognize that the robot is in contact with the surrounding environment or will soon be in contact.

Thus, the operator may readjust the first to sixth arms appropriately with the sixth arm 700 mounted.

As described above, according to the present invention, the robot can accurately operate the robot by freely manipulating the first to sixth arms while the sixth arm is simply mounted by the operator's hand without wearing it on the operator's body. It is also possible to control the motion control of the gripper of the robot by rotating the seventh arm by using the index finger of the operator while the sixth arm is mounted, and when the robot gets caught in an obstacle during operation, the obstacle By controlling the motor to cope with the resistance of the controller, the operator can recognize this, and additionally, it is possible to control the operation of most robots used in the industry with a single mechanism. The remote control must always be worn on the operator's arm and removed when not in use. You can solve that easy, you can move away from physical wear resistance is a manipulator wearing a remote control mechanism for controlling operation of the robot feels, and need not be produced separately from the steering mechanism according to the size of the manipulator arm.

Claims (19)

A base 100 fixedly installed on any space structure; A first arm 200 rotatably installed at one side of the base 100; A second arm 300 having an intermediate portion rotatably installed at an end of the first arm 200 so that the first arm 200 is rotated to become a plane different from the plane of rotation; A third arm (400) rotatably installed at one end of the second arm (300) and rotated to become the same plane as the plane of rotation of the second arm (300); A fourth arm (500) having one end rotatably installed at one end of the third arm (400) and rotated to become a plane different from the plane of rotation of the third arm (400); A fifth arm (600) having one end rotatably installed at the other end of the fourth arm (500) and rotated to become a plane different from the plane of rotation of the fourth arm (500); A sixth arm (700) having one end rotatably installed at the other end of the fifth arm (600) and rotated to become a plane different from the plane of rotation of the fifth arm (600); A seventh arm (800) rotatably installed at the other end of the sixth arm (700) and rotated to become the same plane as the rotation plane of the sixth arm (700); Rotation angle of the first arm 200 with respect to the base 100, rotation angle of the second arm 300 with respect to the first arm 200, third with respect to the second arm 300. Rotation angle of the arm 400, rotation angle of the fourth arm 500 with respect to the third arm 400, rotation angle of the fifth arm 600 with respect to the fourth arm 500, the first angle First to seventh sensing means for separately detecting a rotation angle of the sixth arm 700 with respect to the fifth arm 600, and a rotation angle of the seventh arm 800 with respect to the sixth arm 700, respectively. (160,260,360,460,560,660,760); And a control means (900) for remotely controlling the operation of the robot by receiving the signals detected by the first to seventh sensing means (160,260,360,460,560,660,760). The method of claim 1, The first arm 200 for the base 100, the second arm 300 for the first arm 200, the third arm 400 for the second arm 300. The fourth arm 500 for the third arm 400, the fifth arm 600 for the fourth arm 500, and the sixth for the fifth arm 600. The control unit 900 further includes an arm 700 and first to seventh motors 150, 250, 350, 450, 550, 650 and 750 for respectively rotating the seventh arm 800 with respect to the sixth arm 700. According to the operation state of the robot that is remotely operated by the output signal, the robot can be applied in a direction opposite to the direction of the force applied to the first to seventh arms (200,300,400,500,600,700,800) Control system. The method of claim 1, The first to seventh sensing means (160,260,360,460,560,660,760) is a remote control system for a robot, characterized in that the encoder. The method of claim 3, wherein A first rotation shaft 140 is rotatably installed at one side wall of the base 100, and an end thereof is connected to the first arm 200, and the first motor 150 is installed inside the base 100. ) Is fixedly installed, and the motor shaft 151 and the first rotating shaft 140 of the first motor 150 are connected and installed through the pulley 910 and the timing belt 920. The motor shaft 151 of the 150 is the remote control system of the robot, characterized in that the encoder is installed. The method of claim 4, wherein The base 100 is a remote control system for a robot, characterized in that formed in a rectangular case shape. The method of claim 3, wherein The second arm 300 is rotatably connected to an end of the first arm 200 via a second rotational shaft 240, and the second motor 300 is disposed outside the second arm 300. 250 is fixedly installed, and the motor shaft 251 and the second rotation shaft 240 of the second motor 250 are connected and installed through the pulley 910 and the timing belt 920. The motor shaft 251 of the motor 250, the encoder remote control system, characterized in that the encoder is installed. The method of claim 6, The first arm 200 is vertically integrally formed at both ends of the fixing plate 210 and the fixing plate 210 to which the end of the first rotation shaft 140 is fixed, and has an end portion such that the second arm 300 is interposed therebetween. Remote control system for a robot, characterized in that consisting of a pair of support plates 220 spaced by a predetermined interval. The method of claim 3, wherein The third arm 400 is connected to one end of the second arm 300 via a third rotation shaft 340, and a third motor 350 is disposed outside the second arm 300. It is fixedly installed, the motor shaft of the third motor 350 and the third rotation shaft 340 is connected through the pulley 910 and the timing belt 920 is installed, the motor of the third motor 350 The axis 351 is a remote control system for a robot, characterized in that the encoder is installed. The method of claim 3, wherein One end of the fourth arm 500 is connected to one end of the third arm 400 via a fourth rotation shaft 440, and the other end of the third arm 400 is connected to the fourth motor. 450 is fixedly installed, and a transmission shaft 410 is installed on the motor shaft 451 of the fourth motor 450 so as to rotate inside the third arm 400. The fourth rotating shaft 440 is connected to the pulley 910 and the timing belt 920 by a medium, and the robot is characterized in that the encoder is installed on the motor shaft 451 of the fourth motor 450. Remote control system. The method of claim 9, The fourth arm 500 is a robot remote control system, characterized in that formed in a shape bent at a predetermined angle. The method of claim 10, The fourth arm 500 is a remote control system for a robot, characterized in that formed in the 'b' shape. The method of claim 3, wherein The fifth motor 550 is fixedly installed at the other end of the fourth arm 500, and the fifth arm 600 is fixedly installed at the motor shaft 551 of the fifth motor 550. The remote control system of the robot, characterized in that the encoder is installed on the motor shaft (551) of the fifth motor (550). The method of claim 12, The fifth arm (600) is a remote control system for a robot, characterized in that formed in a shape bent at a predetermined angle. The method of claim 13, The fifth arm (600) is a remote control system for a robot, characterized in that formed in the 'b' shape. The method of claim 3, wherein One end of the sixth arm 700 is rotatably installed at the other end of the fifth arm 600, and the sixth motor 650 is accommodated in the sixth arm 700. The shaft is fixed to the other end of the fifth arm (600), the remote control system of the robot, characterized in that the encoder is installed on the motor shaft (651) of the sixth motor (650). The method of claim 15, The sixth arm (700) is a remote control system for a robot, characterized in that formed in a cylindrical shape having a predetermined diameter. The method of claim 3, wherein One end of the seventh arm 800 is rotatably installed at the other end of the sixth arm 700, and the seventh motor 750 is accommodated in the sixth arm 700. A shaft (751) is fixed to one end of the seventh arm (800), the remote control system of the robot, characterized in that the encoder is installed on the motor shaft (751) of the seventh motor (750). The method of claim 17, The seventh arm (800) is a remote control system for a robot, characterized in that formed in a '┛' shape bent. In the remote control mechanism of the remote control system configured to remotely control the operation of the robot, A base 100 fixedly installed on any space structure; A first arm 200 rotatably installed at one side of the base 100; A second arm (300) rotatably installed at an end portion of the first arm (200), the intermediate portion being rotated to become a plane different from the plane of rotation of the first arm (200); A third arm (400) rotatably installed at one end of the second arm (300) and rotated to become the same plane as the plane of rotation of the second arm (300); A fourth arm (500) having one end rotatably installed at one end of the third arm (400) and rotated to become a plane different from the plane of rotation of the third arm (400); A fifth arm (600) having one end rotatably installed at the other end of the fourth arm (500) and rotated to become a plane different from the plane of rotation of the fourth arm (500); A sixth arm (700) having one end rotatably installed at the other end of the fifth arm (600) and rotated to become a plane different from the plane of rotation of the fifth arm (600); Remote control of the robot comprising a seventh arm (800) rotatably installed at the other end of the sixth arm (700) and rotated to become the same plane as the rotation plane of the sixth arm (700). Instrument.