KR101765052B1 - Operating apparatus having flexible movement and control method thereof - Google Patents

Operating apparatus having flexible movement and control method thereof Download PDF

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Publication number
KR101765052B1
KR101765052B1 KR1020150188092A KR20150188092A KR101765052B1 KR 101765052 B1 KR101765052 B1 KR 101765052B1 KR 1020150188092 A KR1020150188092 A KR 1020150188092A KR 20150188092 A KR20150188092 A KR 20150188092A KR 101765052 B1 KR101765052 B1 KR 101765052B1
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KR
South Korea
Prior art keywords
axis
manipulator
guide rail
unit
axis guide
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KR1020150188092A
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Korean (ko)
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KR20170078894A (en
Inventor
임선
김영욱
원건
황정훈
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전자부품연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

An operation device and a control method thereof having a flexible operation are disclosed. An operation device having a flexible operation according to the present invention includes an operation device for operating a manipulator provided on the outside and a main body for moving the operation device on the X axis, Y axis and Z axis, A communication unit for receiving the position information of the manipulator, a sensor unit provided in the manipulator for measuring position information of the manipulator and coordinate information of the position information of the manipulator on the same axis as the position information of the manipulator, And a controller for remotely adjusting the manipulator by applying an operation signal generated by the manipulator to the position information of the manipulator.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an operation apparatus having a flexible operation,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device, and more particularly, to an operating device having a flexible operation for performing an intuitive operation and a control method thereof.

The arm of the person can be turned up and down, right and left, forward and backward, and can be rotated at arbitrary positions whirled up and down, right and left, and back and forth. Arms with this function are very easy to use in delicate manipulations, for example when drawing, painting, bolting, or performing welding tasks.

In particular, a manipulator refers to an application of an industrial robot with a function similar to a human arm, and is used in a dangerous area or an area requiring remote operation.

The manipulation of the conventional manipulator was based on the screen of the simple imaging device to determine the surrounding situation. As a result, the user is required to perform repetitive learning and thus a lot of fatigue is required for the operation. In addition, there is an increasing demand for precise and difficult work, rather than a simple work, but the operation mechanism or the methodology capable of coping with it is insufficient, so that the work can not be smoothly performed.

Therefore, there is a need for a manipulation mechanism or methodology that can easily perform a precise and difficult task in the remote control of the manipulator.

Korean Patent No. 10-0335363 (Apr. 22, 2002)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an operation device and a control method thereof that have a flexible operation for performing coordinate conversion so that an operation device can be intuitively operated.

It is another object of the present invention to provide an operation device and a control method thereof, which have a flexible operation in which a manipulator is precisely operated with high degree of difficulty even by remote control.

In order to achieve the above object, an operating device having a flexible operation according to the present invention includes: an operating device for operating a manipulator provided on the outside; an operating device for operating the manipulating device on an X axis, a Y axis, and Z A communication unit that is provided inside the main body and receives position information of the manipulator; a sensor unit that is provided in the manipulator and that measures position information of the manipulator; And a controller for performing coordinate conversion on the same axis as the position information and remotely adjusting the manipulator by applying the manipulation signal generated by the manipulator to the position information of the manipulated manipulator.

And a motor unit provided inside the main body and connecting one motor to each of the X axis, the Y axis and the Z axis, and driving the connected motors according to the motor control signal of the control unit.

Further, the operation device is characterized in that at least one of the X-axis movement, the Y-axis movement, the Z-axis movement, and the rotational movement is operated.

The main body includes a Y-axis transfer unit for moving the manipulator in the Y-axis direction along the Y-axis guide rail, at least one Y-axis guide rail on the manipulator, And an X-axis feeder connected to the lower portion of the X-axis feeder and configured to move the Y-axis feeder along the X-axis guide rail in the X-axis direction, And a Z-axis conveying unit including a Z-axis guide rail and moving the X-axis conveying unit along the Z-axis guide rail in the Z-axis direction.

The Y-axis conveying portion includes a Y-axis guide rail formed on the upper portion thereof, a support base on which a plurality of through-holes are formed, and a conveying portion for connecting the Y-axis guide rail to the Y- And a support portion.

The Y-axis transfer unit may further include a fixing unit formed in a bolt shape at an end of the conveying support unit and inserting the bolt shape into the through-hole to fix the movement of the conveyance support unit.

Further, the control unit performs coordinate transformation using an Euler Angle.

A control method of an operating device having a flexible operation according to the present invention includes the steps of: receiving position information of a manipulator provided with an operating device on the outside; measuring the position information of the manipulating device by the operating device; Converting the position information of the manipulator into coordinates on the same axis as the position information of the manipulator, and remotely adjusting the manipulator by applying the manipulation signal generated by the manipulator to the position information of the manipulated manipulator do.

According to the operation device and the control method thereof having a flexible operation according to the present invention, it is possible to perform coordinate conversion so that an intuitive operation of the operation device can be performed.

In addition, the manipulator can be manipulated precisely and with high difficulty by remote control.

1 is a block diagram for explaining an operating device according to an embodiment of the present invention.
2 is a perspective view for explaining an operating device according to an embodiment of the present invention.
3 is a side view for explaining an operating device according to an embodiment of the present invention.
4 is an exploded view for explaining an operating device according to an embodiment of the present invention.
5 is a flowchart illustrating a method of controlling an operating device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals as used in the appended drawings denote like elements, unless indicated otherwise. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather obvious or understandable to those skilled in the art.

1 is a block diagram for explaining an operating device according to an embodiment of the present invention.

Referring to Fig. 1, the operating device 100 performs automatic coordinate conversion so that the manipulator 10 can be intuitively manipulated. The manipulation device 100 enables manipulation of a manipulator (not shown) that is precise even with remote control and has a high degree of difficulty. Here, the intuitive manipulation means that the manipulator performs the manipulation in the direction in which it is manipulated by the manipulator. That is, the intuitive manipulation means that the manipulator moves according to the movement of the manipulator even when the manipulator and the manipulator are positioned at different points in time. The operation device 100 includes an operation device 10, a communication section 20, a sensor section 30, a control section 40, a motor section 50 and a storage section 60.

The manipulator 10 remotely controls the manipulator. The manipulator 10 generates an manipulation signal for remotely manipulating the manipulator. The operation unit 10 can operate at least one of X-axis movement, Y-axis movement, Z-axis movement, and rotational movement.

The communication unit 20 receives the position information of the manipulator and transmits an operation signal generated from the manipulator 10. Here, the position information of the manipulator is information on the current position and viewpoint of the manipulator. In particular, the position information of the manipulator can be displayed in three axes (X axis, Y axis, Z axis) coordinates. The communication unit 10 may perform wired communication or wireless communication, and may preferably perform short-range wireless communication.

The sensor unit 30 measures the position information of the manipulator 10. Here, the positional information of the manipulating device 10 may be information on the current position and viewpoint of the manipulating device 10, and may be displayed in three-axis coordinates. The sensor unit 30 may be provided in the actuator 10, specifically, at a position adjacent to the center of the actuator 10. The sensor unit 20 may include sensors such as a linear sensor, a gyro sensor, a tilt sensor, an acceleration sensor, and the like.

The control unit 40 performs coordinate conversion on the position information of the manipulator received from the communication unit 20 on the same axis as the position information of the manipulator 10 measured by the sensor unit 30. [ At this time, the control unit 40 can perform coordinate transformation using the Euler Angle. Here, the Euler angles can be expressed by a matrix and are expressed by the following matrix.

[Determinant]

Figure 112015127997825-pat00001

Here, RPY (陸, 慮, Ψ) denotes coordinates on the X axis, Y axis and Z axis, Φ denotes the angle of the X axis, θ denotes the angle of the Y axis, And a, o, n mean constants.

Accordingly, the control unit 40 performs coordinate transformation so that the axial direction of the position information of the manipulator is the same as the axial direction of the position information of the manipulator through the determinant.

For example, when the position information of the manipulator and the position information of the manipulator are the same in the Y axis direction and the Z axis direction, the X axis direction of the position information of the manipulator is 12 o'clock direction, and the X axis direction of the position information of the manipulator is 9 o'clock , A difference of 90 [deg.] With respect to the X-axis occurs. In order to eliminate such difference in the axial direction, the controller 40 applies the Euler angles to the position information of the manipulator to coordinate the X-axis from the 12 o'clock position to the 9 o'clock position to make the axial directions the same.

The control unit (40) remotely adjusts the manipulator by applying the manipulation signal generated from the manipulator (10) to the position information of the manipulated manipulator.

In addition, the controller 40 can adjust the position of the controller 10 according to the state of the user. The control unit 40 can move the body supporting the manipulator 10 in the X-axis, the Y-axis, and the Z-axis, and the three-axis movement can be controlled by a motor. Here, the main body will be described in detail with reference to FIG. 2 to FIG.

The motor unit 50 controls the motor in accordance with the motor control signal generated by the control unit 40. The motor unit 50 includes at least three motors, and each of the three motors can perform X-axis movement, Y-axis movement, and Z-axis movement, respectively.

The storage unit 60 stores a coordinate transformation algorithm. Also, the storage unit 60 may store a default setting value (default) capable of calibrating the manipulator.

Here, when the operating device 100 is not operated for a predetermined time, the promotional device 100 may transmit the basic setting value stored in the storage portion 60 to the manipulator so that the manipulator can be automatically calibrated.

FIG. 2 is a perspective view for explaining an operating device according to an embodiment of the present invention, FIG. 3 is a side view for explaining an operating device according to an embodiment of the present invention, and FIG. And Fig.

Referring to Figs. 2 to 4, the operating device 100 can perform operations that are precise and difficult, while maintaining the intuitiveness of the operating device 10. Fig. 2 to 4, the rotary shaft 15 is rotated in accordance with the rotation of the lever 13 to rotate the operation unit (not shown) 11 for moving the actuators 10.

The operation device 100 includes a main body 70 having an operation device 10 at its upper portion and corresponding to a body portion. The main body 70 includes a Y-axis feeder 80, an X-axis feeder, and a Z-axis feeder 90. In particular, the main body 70 may further include at least three wheels 75 at the lower portion thereof to facilitate the movement of the operating device 100.

The Y-axis transfer unit 80 has the operation unit 10 at the upper part, and at least one Y-axis guide rail is formed. The Y-axis transfer unit 80 moves the operation unit 10 along the Y-axis guide rail in the Y-axis direction. The Y-axis transfer unit 80 includes a support 81, a bushing 82, a transfer support 83, a fixing unit 84, a through-hole 85, a first Y-axis guide rail 86, And a rail 87.

The support portion 81 is formed in a panel shape and has a first Y-axis guide rail 86 and a second Y-axis guide rail 87 formed thereon. In particular, the support portion 81 is formed with a bushing 82 to prevent the feed support portion 83 from falling off.

The conveying support portion 83 is formed with a connecting member to be connected to the first Y-axis guide rail 86 and the second Y-axis guide rail 87 at a lower portion thereof. Accordingly, the conveying support portion 83 can move the operation device 10 along the first Y-axis guide rail 86 and the second Y-axis guide rail 87. Here, the conveyance support part 83 may be connected to the motor part 50 and may be moved in accordance with the motor control of the control part 40.

The fixing part 84 is formed in a bolt shape at the end of the conveying supporting part 83 to fix the conveying supporting part 83 which has been moved. That is, the fixing portion 84 fixes the movement of the conveying support portion 83 by inserting a bolt in the through-hole 85 formed in the supporting portion 81. Here, the fixing portion 84 can facilitate the movement of the conveying support 83 by separating the bolt shape from the through-hole 85 when the conveying support 83 is moved.

An X-axis transfer unit (not shown) is connected to a lower portion of the Y-axis transfer unit 80, and at least one X-axis guide rail (not shown) is formed. The X-axis transfer unit moves the Y-axis transfer unit 80 along the X-axis guide rail in the X-axis direction. In other words, the X-axis transfer unit is different from the Y-axis transfer unit 80 only in the moving direction and the moving axis direction, and the remaining components are the same, and a duplicate description will be omitted.

The Z-axis feeder 90 is connected to the lower portion of the X-axis feeder, and at least one Z-axis guide rail is formed. Here, the Z-axis transferring unit 90 may be fixed to the lower portion of the X-axis transferring unit. The Z-axis feeder 90 moves the X-axis feeder along the Z-axis guide rail in the Z-axis direction. The Z-axis feeder 90 includes a first Z-axis guide rail 91, a second Z-axis guide rail 93, a first support 95, and a second support 97.

The first Z-axis guide rail 91 and the second Z-axis guide rail 92 are connected to the motor unit 50 and move up and down according to a motor control signal to move the X-axis transfer unit. At this time, the first Z-axis guide rail 91 and the second Z-axis guide rail 92 are connected to the first support 95 and the second support 97, respectively, so that the distortion of the guide rail, .

That is, the operation device 100 has the Y-axis transfer unit 80, the X-axis transfer unit, and the Z-axis transfer unit 90 connected to each other and moves the manipulator 10 according to a motor control signal generated by the controller 40 .

Here, the operating device 100 may include only the Y-axis transferring portion 80 and the Z-axis transferring portion 90 except for the X-axis transferring portion, depending on the installation environment.

5 is a flowchart illustrating a method of controlling an operating device according to an embodiment of the present invention.

Referring to Figs. 2 to 5, the manipulation apparatus 100 can manipulate the manipulator precisely even with remote control, and can operate with a high degree of difficulty.

In step S110, position information of the manipulator is received. The communication unit 20 can receive position information of the manipulator through wired / wireless communication.

In step S130, position information of the manipulator 10 is measured. The sensor unit 30 is provided in the operation unit 10 and can measure the position information of the operation unit 10.

In step S150, the axis direction of the position information of the manipulator is co-ordinated to the axial direction of the position information of the manipulator 10. That is, the controller 30 applies the axial direction with respect to the position information of the manipulator to the Euler angles and performs coordinate conversion so as to be the same as the axial direction with respect to the position information of the manipulator 10.

In step S170, the manipulator is remotely adjusted. The control unit 30 performs an intuitive remote adjustment by applying the manipulation signal of the manipulator 10 to the position information of the manipulated manipulator in step S150. At this time, the communication unit 20 can transmit a signal for remote control to the manipulator.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation in the embodiment in which said invention is directed. It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

10: Actuator 11:
13: lever 15:
20: communication unit 30:
40: control unit 50: motor unit
60: storage unit 70:
75: Wheel 80: Y-axis transfer part
81: Support portion 82:
83: conveying support portion 84:
85: through hole 86: first Y-axis guide rail
87: second Y-axis guide rail 90: Z-axis conveying section
91: first Z-axis guide rail 93: second Z-axis guide rail
95: first support member 97: second support member
100: Operation device

Claims (8)

A manipulator for manipulating a manipulator;
A main body for moving the manipulator in X-axis, Y-axis, and Z-axis;
A communication unit for receiving position information of the manipulator;
A sensor unit for measuring position information of the manipulator; And
The manipulation signal generated by the manipulator is applied to positional information of the coordinate-converted manipulator, and the positional information of the manipulator, And a remote control unit for controlling the remote control unit,
The main body includes:
A Y-axis conveying unit having the manipulator at an upper portion thereof and including at least one Y-axis guide rail, and moving the manipulator along the Y-axis guide rail in the Y-axis direction;
An X-axis conveying unit connected to a lower portion of the Y-axis conveying unit and including at least one X-axis guide rail and moving the Y-axis conveying unit along the X-axis guide rail in the X-axis direction; And
And a Z-axis transferring unit connected to a lower portion of the X-axis transferring unit and including at least one Z-axis guide rail for moving the X-axis transferring unit along the Z-axis guide rail in the Z-
The Y-
A support portion on which the Y-axis guide rail is formed, and on which a plurality of through-holes are formed;
A conveyance supporting unit for fixing the manipulator on an upper portion thereof and connecting the Y-axis guide rail to a lower portion thereof to move the manipulator; And
A fixing part formed in a shape of a bolt at an end of the conveying supporting part and fixing the movement of the conveying supporting part by inserting the bolt shape into the through hole;
And a control unit for controlling the operation of the operation device. The method according to claim 1,
A motor unit connecting one motor to each of the X, Y, and Z axes and driving the connected motors according to a motor control signal of the control unit;
Further comprising a control unit for controlling the operation of the operation device. The method according to claim 1,
The manipulator includes:
Wherein the operation unit is configured to operate at least one of X-axis movement, Y-axis movement, Z-axis movement, and rotation movement. delete delete delete The method according to claim 1,
Wherein,
Wherein coordinate transformation is performed using an Euler angle. The operation device receiving position information of the manipulator;
The operation device measuring position information of the manipulator;
Converting the coordinate system of the manipulator into an axial direction with respect to the positional information of the manipulator in the same axial direction as the axial direction with respect to the positional information of the manipulator; And
And manipulating the manipulator to remotely adjust the manipulator by applying the manipulation signal generated by the manipulator to the position information of the manipulated manipulator,
A main body for moving the manipulator in the X-axis, Y-axis, and Z-
A Y-axis conveying unit having the manipulator at an upper portion thereof and including at least one Y-axis guide rail, and moving the manipulator along the Y-axis guide rail in the Y-axis direction;
An X-axis conveying unit connected to a lower portion of the Y-axis conveying unit and including at least one X-axis guide rail and moving the Y-axis conveying unit along the X-axis guide rail in the X-axis direction; And
And a Z-axis transferring unit connected to a lower portion of the X-axis transferring unit and including at least one Z-axis guide rail for moving the X-axis transferring unit along the Z-axis guide rail in the Z-
The Y-
A support portion on which the Y-axis guide rail is formed, and on which a plurality of through-holes are formed;
A conveyance supporting unit for fixing the manipulator on an upper portion thereof and connecting the Y-axis guide rail to a lower portion thereof to move the manipulator; And
A fixing part formed in a shape of a bolt at an end of the conveying supporting part and fixing the movement of the conveying supporting part by inserting the bolt shape into the through hole;
And controlling the operation of the operation device.
KR1020150188092A 2015-12-29 2015-12-29 Operating apparatus having flexible movement and control method thereof KR101765052B1 (en)

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KR101497320B1 (en) * 2013-12-20 2015-03-02 삼성중공업 주식회사 Apparatus for division control of robot arm

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101497320B1 (en) * 2013-12-20 2015-03-02 삼성중공업 주식회사 Apparatus for division control of robot arm

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