WO2011115287A1

WO2011115287A1 - Master/slave system and method for controlling same

Info

Publication number: WO2011115287A1
Application number: PCT/JP2011/056692
Authority: WO
Inventors: 克弥金岡
Original assignee: 学校法人立命館
Priority date: 2010-03-15
Filing date: 2011-03-15
Publication date: 2011-09-22
Also published as: JP2011189445A; JP5105450B2

Abstract

Disclosed is a master/slave system (1) that is bilaterally controlled—of which a master robot (M) is considered an admittance type force feedback device—and that comprises: a master displacement sensor (Pm) that detects the displacement of the master robot (M); a slave displacement sensor (Ps) that detects the displacement of a slave robot (S); a master actuator (Am) that drives the master robot (M); a slave actuator (As) that drives the slave robot (S); and an operating force sensor (Fm) that detects the operating force that an operator (U) applies to the master robot (M).

Description

Master-slave system and control method thereof

The present invention relates to a master / slave system and its control method.

The so-called master-slave system has been developed since the master robot and slave robot are mechanically coupled and interlocked with each other.
FIG. 7 shows an example mechanical master-slave system 20. In this system, the operator U, the master robot M, and the slave robot S interconnected with the master robot M are mechanically coupled and interlocked. In FIG. 7, MC represents a mechanical connection between the master robot M and the slave robot S, E represents an environment where the working end of the slave robot S is placed, and G represents a grip serving as the operation end of the master robot M. . When mechanically coupled in this way, there is an advantage that the operator U can obtain a direct operational feeling. However, the mechanism design is free from geometric constraints between the operator U, the master robot M, and the slave robot S. However, there are also disadvantages such as difficulty in ensuring safety in the event of an abnormality.
Therefore, while the usefulness of such a mechanically coupled mechanical master / slave system 20 is still recognized, at present, the master robot M and the slave robot S are electrically interconnected, and the operator U The main type is an electrical type in which the input interface on the side and the output interface on the robot side are mechanically separated.
In general, the electric type is flexible by software or electrical means and can be designed flexibly. For example, safety is ensured so that the operator cannot enter the movable range of the high-power actuator. Easy system can be constructed.
The electrical master-slave system with these features has been developed mainly for remote operation as a main application, and so far, it has mainly focused on reproducibility of position or force, mechanism transparency, or dealing with communication time delay. Have been studied (see Non-Patent Documents 3 to 6 below).
However, when the master-slave system as a power amplification robot as shown in FIG. 6 is considered, the viewpoint changes. The following is a list.
FIG. 6 is a conceptual diagram of the upper limb power amplification master / slave system. The upper limb power amplification master / slave system 1 ′ includes a master robot M and a slave robot S. Each of the robot arms M and S has a grip G as a manipulation end and a work end d on one end side, and the other end side is provided at a different position on the trunk B. Each of the robot arms M and S has two links, one end connected to the grip G or the work end d, the other end connected to the trunk B, and a connecting portion between the links. Have joints. In the case of an electric master-slave system, these joints or grips G are provided with displacement sensors Pm _{1 to 3} and Ps _{1 to 3} , actuators As _{1 to 3} , as necessary, depending on the control method applied. Furthermore, Am _{1 to 3} and a work force sensor Fs or an operation force sensor Fm are provided. The control method to be applied will be explained in order.
Here, for the so-called mechanical type in which the operator U, the master robot M, and the slave robot S interconnected with the master robot M are mechanically coupled and interlocked, the control system operates normally. It has already been shown that human power amplification with a high amplification factor is possible (see Non-Patent

Documents

1 and 2 below).
i) First, in the master-slave system as a power amplification robot as shown in FIG. 6, it is assumed that the trunk is on the same mechanical system even if the ends of each master-slave are mechanically separated. It can be considered that there is no communication time delay.
ii) In the master-slave system as the power amplification robot as shown in FIG. 6, for the synergistic effect between the operator U and the robot, the robot's dynamic characteristics, that is, the dynamics, after power amplification of the operator U's body skills. (See Non-Patent Document 2 below). This is because the concept of transparent mechanism that “disappears” the dynamics pursued by the electrical master-slave system described so far, is rather unfamiliar with the master-slave system as a power amplification robot as shown in FIG. To suggest.
iii) Furthermore, in the upper limb power amplification master / slave system 1 ′ as shown in FIG. 6, actuators As _{1 to 3} having relatively large outputs are arranged on the slave robot S side. In implementation, the slave robot S side must be hardware capable of withstanding this large output.
However, multi-axis force sensors are generally delicate and expensive. For example, the following Non-Patent Document 7 points out that there is no 6-axis force sensor that can withstand the output of the backhoe.
Thus, in the master-slave system as a power amplification robot as shown in FIG. 6, a hardware configuration in which a multi-axis force sensor is provided on the slave robot S side is not desirable.
iv) Finally, in the upper limb power amplification master-slave system 1 ′ as shown in FIG. 6, for example, the master robot M has a human movable range scale, but the slave robot S is a relatively large scale suitable for high output. It is expected that
Regardless of whether the master and slave have the same structure or different structures, it must be recognized that the difference in dynamics between the master and slave due to the reduction ratio and scale effect cannot always be ignored.
[Basic bilateral control]
Then, based on the viewpoints i) to iv) described above, basic bilateral controls currently recognized as representatives of the electric master-slave system are listed, and the advantages and disadvantages are explained through comparison. Hereinafter, three examples of (a) symmetric type, (b) force reverse feed type, and (c) force feedback type will be sequentially described.
As an electric master / slave system, it is possible to use a system to which the unilateral control 30 as illustrated in FIG. 8 is applied. However, as shown in FIG. The target value from the master M side is merely sent to the trajectory control means PCs that performs the trajectory control of the slave S without placing a control system on the M side. For example, even if the slave S contacts with something in the environment, the operator U The situation cannot be conveyed through the sense of power.
In FIG. 8, Pm is a master displacement sensor, Ps is a slave displacement sensor, As is a slave actuator, G is a grip held by an operator, and d is a working end.
Therefore, when the master-slave system as a power amplification robot as shown in FIG. 6 is an electric master-slave system, bilateral control in which the work status on the slave S side is transmitted to the operator U as a force sense is inevitably applied. Will be.
First, the equation of motion of the master-slave system as a power amplification robot as shown in FIG. 6 is defined as follows. Equation (1) relates to the master robot side and Equation (2) relates to the slave robot side.

At time t, the master operating force that the operator applies to the end of the master robot is f _m (t), and the slave working force that the slave end applies to the environment is f _s (t). q _m (t), q _s (t) are master displacement and slave displacement, τ _m (t), τ _s (t) are master driving force or slave driving force for driving the master robot M or slave robot S, and

Is a remainder term that aggregates effects other than inertia.
Here, if the master robot M and the slave robot S are n-degree-of-freedom robots, f _m (t), f _s (t)... Are n-dimensional vectors (hereinafter the same).
Also, M _m (q _m ) and M _s (q _s ) are inertia matrices, J _m (q _m ) and J _s (q _s ) are Jacobian matrices, and these Jacobian matrices are regular. However, these are assumptions for simplifying the explanation. In the present invention, even if the degrees of freedom of the master robot and slave robot are different, the degrees of freedom of the robot and the dimensions of the work coordinate system are different, and the Jacobian matrix is Even if it is not regular, it can be applied without problems.
Further, when handling a master-slave system as a power amplification robot as shown in FIG. 6, displacement and force scaling are performed. _Let S _p and S _f be the scale ratios of displacement from the master to the slave and force, respectively. S _p and S _f are diagonal matrices of n rows and n columns.
(A) Symmetric bilateral control As shown in FIG. 9, in the symmetric bilateral control, the trajectory control means PCm and PCs are arranged on both the master M side and the slave S side, and the position and speed of the robot on the other side are determined. A closed-loop system is configured to achieve the target value. This is called because the same orbit control system is arranged symmetrically on the master side and slave side. The symmetric type does not require a force sensor required for the following force reverse feed type and force feedback type

bilateral control

32 and 33, and is a control method with good properties in terms of stability. In FIG. 9, Am is a master actuator.
Regarding the control law, for example, if P control in the work coordinate system is used, it is as follows.
x _m (t) and x _s (t) are positions in the working coordinate system of the master or slave end [n-dimensional vector], and K _p is an n-by-n diagonal matrix representing the P control gain.

Equation (3) relates to the master robot side and Equation (4) relates to the slave robot side.
Here, τ _m = τ _m (x _s , x _m ) means that the master driving force τ _m is a function of the slave displacement x _s and the master displacement x _m, and τ _s = τ _s (x _m , x _s ) means that the slave driving force τ _s is a function of the master displacement x _m and the slave displacement x _s .
Then, the following equation is obtained from equations (1) to (4).

As can be understood from the first term and the second term of equation (5), together with the master operating force f _m applied at the same magnification the influence of the dynamics of the master robot M, slave robot dynamics effects and slave robots S S Slave work force f _s is reduced to S _f ⁻¹ and added.
That is, in this symmetrical bilateral control, the apparent inertia felt by the operator tends to be heavy because the inertia of the slave robot S is superimposed on the inertia of the master robot M due to the configuration of the control system. Since the force feedback from the slave robot S to the master robot M depends on the deviation signal of the position control system, there is a problem that it is easily influenced by the friction of the drive systems of both the master and slave robots.
(B) Force reverse feed type bilateral control The force reverse feed type bilateral master-slave system 32 shown in FIG. 10 is configured so that the slave robot S is trajectory-controlled using the position and speed of the master robot M as a target value. slave working force f _s which corresponds to the contact force between the detected environment robot S side is conveyed backward to the master robot M side is a method of driving a master robot M. Therefore, the slave robot S terminal to the master robot M side with working force sensor Fs for measuring the slave working force f _s is provided provided with a driving force control means FCm, the slave working force f _s to the master robot M side It is configured to be “reflected” to the master driving force τ _m at this point.
In the case of the force reverse feed type, the slave robot S is linked to the master robot M. This suggests that the slave robot S moves according to the dynamic characteristics, that is, the dynamics of the master robot M. The same applies to the case of the force feedback type described below.
Here, the control law of the master robot M is as follows. Note that the control law of the slave robot S is the same as that in Expression (4).

Here, τ _m = τ _m (f _s ) represents that the master driving force τ _m is a function of the slave working force f _s .
Then, the following expression is obtained from Expression (1) and Expression (6).

As can be seen from the first term on the right side of equation (7), the master operating force f _m is also affected by the dynamics of the master robot M at the same magnification, and the slave working force f _s of the slave robot S is S _f ^−1. Reduced to double.
(C) Force-feedback bilateral control The force-feedback bilateral master-slave system 33 shown in FIG. 11 controls the trajectory of the slave robot S with the position and speed of the master robot M as target values. In this method, the master robot M is force-controlled using a slave work force f _s corresponding to the contact force with the environment detected on the side as a target value. The difference from the force reverse feed type 32 is that an operating force sensor Fm is also provided on the master robot M side, and there is a closed loop that feeds back an error from the force target. By adding this force feedback loop, force sensitivity and the like are improved, and the apparent inertia of the master robot M and the slave robot S is reduced to improve the operational feeling.
As is clear from the above series of explanations, as the configuration requirements increase from the symmetrical bilateral master / slave system 31 to the force reverse feed type bilateral master / slave system 32 and the force feedback type bilateral master / slave system 33, the master It is understood that the mechanism transparency of the entire slave system is improved.
Here, the control law of the master robot M is as follows. K _f is an n-by-n diagonal matrix representing a force control gain. Note that the control law of the slave robot S is the same as that in Expression (4).

Here, _{_{_{τ m = τ m (f s}}} , f m) that is a master driving force tau _m indicates that a function of the slave work force _{f s} and the master operating force _{f m.}
Then, the following expression is obtained from Expression (1) and Expression (8). I is a unit matrix.

As can be understood from the first term and the second term of the equation (9), by securing larger K _f influence of the dynamics of the master robot M becomes small enough to be ignored, only the slave working force f _s of the slave robot S Is reduced to S _f ⁻¹ and added.
By the way, as shown in the equations (5), (7), and (9), the mechanism is transparent to the symmetric master-slave system 31, the force reverse-feed master-slave system 32, and the force-feedback master-slave system 33. As U increases, the operator U can operate the master-slave system as if he / she is “directly operating the object (only)”. As shown, the operator U has to become less aware that the operation of the slave robot S is performed in consideration of the dynamics of the slave robot S, and suddenly the operator U has a relatively large output and a large slave robot. Even S may give the illusion that it works with the dynamics of the relatively small output master robot M in his or her hand, and the tendency Point such as seen strongly was a problem.
That is, in a master-slave system in which a relatively small output master robot M and a relatively large output large slave robot S are electrically interconnected, the structure is the same or different. Naturally, the dynamics of the master robot M and the slave robot S are significantly different. For example, the inertia, friction, movable range, and other dynamic characteristics of the slave robot S are much larger than those of the master robot M.
Under such a premise, not transmitting the dynamics of the slave robot S to the operator U in some way prevents the operator U from performing an appropriate operation in consideration of the dynamics of the slave robot S. At the same time, when examining the control system of the master-slave system, it was a problem to be addressed as one of the man-machine interface performance.
In addition, when assuming a large slave robot with such a relatively large output, it is strong enough to withstand the harsh use of the slave robot, which is sometimes exposed to a poor environment and overloaded. It is very difficult to obtain a force sensor and prepare it for a slave robot. In that case, the existing force back-feed type or force feedback type is detected on the slave robot side. There is a problem that it is difficult to apply the bilateral master-

slave systems

32 and 33 that return the contact force or the touch of the object to the operator.
Furthermore, even if a tough force sensor that can withstand the harsh use of a large slave robot with such a relatively large output is obtained, the bilateral master slave called the force reverse feed type or the force feedback type Since the

systems

32 and 33 have the following problems, it is difficult to apply to a master-slave system in which a relatively small output master robot is operated to operate a large slave robot with a relatively large output. There was also a problem.
That is, in the force reverse feed type or force feedback type bilateral master-

slave systems

32 and 33 shown in FIGS. 10 and 11, the slave robot S is provided with the work force sensor Fs. assumes a provided joystick slave robot S at the grip G is release the state and which has been separated from the master robot M (f m _{= 0)} is said to be driven forcibly by an external force -f _s situation If you, when transmitted by the master driving force tau _m to the master robot M side based on the work force sensor Fs output provided to the slave robot S, and thus it is reflected in the master position and speed. Then, such a master displacement x _m is transmitted to the slave robot S side this time, and as a result, the slave driving force τ _s is transmitted to the slave robot S side based on the master displacement x _m and the slave robot S is driven. As a result, the output of the slave robot's working force sensor Fs fluctuates, and there is a possibility that a closed loop may be formed such that the master driving force τ _{m is} generated, the master displacement x _m changes, and so on. Once such a closed loop is constructed, the unintended motion or vibration of the slave robot S increases unless the separated state between the operator U and the master robot M is eliminated and an appropriate operation is applied. In this case, there is a possibility that the slave robot S may run away and cause danger to the surroundings. Also in this case, there is a high possibility that the stability of the control system cannot be maintained.
These dangers or the effects on the surroundings are particularly large when the slave robot is relatively large in output and large, and the larger it is, the greater the risk that it may cause serious damage to the surroundings. There was a problem I said.
That is, the above-mentioned problems are problems that must be solved when providing a master-slave system that can be operated with peace of mind by the operator and that can also provide peace of mind to the surroundings of the slave robot.
However, until now, there have been no examples in the world that focus on these problems and solve them from the front.

Therefore, the present invention provides a master-slave system that controls a slave robot with a relatively large output that is electrically connected to the operator by operating the master robot with a relatively small output. It is an object of the present invention to provide a master-slave system that allows intuitive control as if it is directly held, and that does not require a force sensor on the slave robot side, and a control method therefor.

As a result of various studies to solve the above problems, the inventor of the present application is a bilaterally controlled master-slave system that outputs a master operating force received from an operator by a master robot operated by the operator. Thus, an admittance-type force sense presentation device that generates a master drive force by receiving a displacement or speed input and presents a force sense to the operator, and the master robot is operated with an operation force applied to the master robot by the operator. It consists of an operating force sensor to detect, a master displacement sensor to detect the displacement of the master robot, and a master actuator that drives the master robot based on the master displacement and the slave displacement. The slave robot detects the displacement of the slave robot. Slave displacement sensor that drives the slave robot based on the master operating force It has been found that it is possible to provide a master-slave system that does not require a force sensor on the slave robot side by comprising a slave actuator. It has been found that by manipulating the output master robot, it is possible to intuitively control the kite as if it directly has a relatively large output slave robot, and the present invention has been completed.
The master-slave system of the present invention that can solve the above-described problems includes (1) a master robot that is an admittance type force sense manipulation device operated by an operator, and a slave robot that is at least electrically connected to the master robot. A bilaterally controlled master-slave system comprising: at least one master displacement sensor for detecting master displacement in the master robot; at least one slave displacement sensor for detecting slave displacement in the slave robot; and the master At least one master actuator for generating a master driving force for driving the robot; at least one slave actuator for generating a slave driving force for driving the slave robot; and a mass applied by the operator to the master robot. At least one operating force sensor for detecting an operating force, wherein the slave actuator generates the slave driving force based on the master operating force, while the master actuator is based on the master displacement and the slave displacement. The master driving force is generated.
Further, the control method of the master-slave system of the present invention comprises (2) a master robot that is an admittance type force sense presentation device operated by an operator, and a slave robot that is at least electrically connected to the master robot. A bilaterally controlled master-slave system control method comprising: detecting at least one operation force sensor a master operation force applied by the operator to the master robot; and at least one slave actuator to perform the master operation. Generating a slave driving force for the slave robot based on the force; detecting a master displacement of the master robot by at least one master displacement sensor; and further detecting a slave displacement of the slave robot by at least one slave displacement sensor. And a step of generating a master driving force for the master robot based on the master displacement and the slave displacement by at least one master actuator and presenting a sense of force to the operator. It is characterized by this.
[Explanation of terms]
In this specification, “operation” and “maneuvering” are properly used. “Operation” is used in a local case where the person / operation to be operated is focused. On the other hand, “steering” is used when the entire action including not only the person who operates the robot but also the operated robot is considered.
Therefore, in this specification, the operator operates the master robot, and the operator controls the slave robot.
"Power amplification robot" as used in this specification is a device that is generally understood as a power assist robot. It refers to a robot whose main purpose is to be
In this specification, the “master / slave system” refers to an integrated system including a master robot and a slave robot as well as a control device for controlling these.
In this specification, “dynamics” indicates a comprehensive concept including all dynamic characteristics such as inertia, friction, and centrifugal force.
In this specification, “different structure” refers to a master robot and a slave robot that constitute a master-slave system having different geometric structures (see FIG. 5). The master robot and the slave robot constituting the slave system indicate the same geometric structure.
In the different structure master-slave system 10 shown in FIG. 5, d represents the working end of the slave robot S, and G represents the operating end of the master robot M serving as an interface with the operator U.
In this specification, “admittance type” means that a master robot operated by an operator outputs a master operating force received from the operator, while receiving a displacement or speed input to generate a master driving force to generate the master driving force. It is assumed that a force sense presentation is indicated (see FIG. 4).
On the other hand, the “impedance type” is the opposite, in the master robot operated by the operator, while outputting the master displacement or speed, the master driving force is generated by receiving the force input, and the operator senses force. It shall indicate what is to be presented.
In general, the impedance type or admittance type is a concept used in the field of virtual reality and is rarely used for a master-slave system.
The “mechanism transparency” in this specification is a concept mainly used in the field of wearable robots and master-slave systems. This is because “the dynamics (dynamics) of the robot mechanism worn or operated by the robot operator is apparent to the operator (in terms of kinematics), and the wrinkles are transparent (as if there is nothing. ) "Feel".

According to the present invention, in a master-slave system in which a relatively high-power slave robot is controlled by an operator by manipulating a relatively low-power master robot, the operator can feel as if the robot is a slave robot. It is possible to provide a master-slave system and a control method therefor that enable intuitive operation as if the robot is directly held and that does not require a force sensor on the slave robot side.
According to the present invention, the slave robot can be operated according to the slave dynamics, and at the same time, the master robot is interlocked with the slave robot. It becomes possible to provide.

FIG. 1 is a diagram showing an embodiment of a master-slave system of the present invention.
FIG. 2 is a conceptual diagram of a limb power amplification master / slave system according to another embodiment of the master / slave system of the present invention.
FIG. 3 is a conceptual diagram of a limb power amplification master / slave system according to still another embodiment of the master / slave system of the present invention.
FIG. 4 is a diagram illustrating the difference in concept between impedance-type force sense presentation and admittance-type force sense presentation.
FIG. 5 is a diagram illustrating an example of a different-structure master-slave manipulator.
FIG. 6 is a conceptual diagram of the upper limb power amplification master / slave system.
FIG. 7 is a conceptual diagram of a mechanical master / slave system.
FIG. 8 is a conceptual diagram showing the unilateral control.
FIG. 9 is a conceptual diagram showing symmetric bilateral control.
FIG. 10 is a conceptual diagram showing the force reverse feed type bilateral control.
FIG. 11 is a conceptual diagram showing the force feedback type bilateral control.
FIG. 12 is a conceptual diagram showing a general expression of the control system of the master / slave system.

Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to this embodiment.
The background of the completion of the master-slave system according to the present invention is as described above. In the upper limb power amplification master-slave system 1 ′ as shown in FIG. 6, a multi-axis force sensor is arranged on the slave robot S side. Since the configuration is not desirable, i) the force reverse feed type or force feedback type master /

slave system

32, 33 as shown in FIG. 10 or FIG. 11 is difficult to apply in reality, and ii) no force sensor is required. In the symmetric master-slave system 31 as shown in FIG. 9, it is difficult to maintain high operability.
[Constitution]
FIG. 1 is a diagram showing an embodiment of a master-slave system according to the present invention. FIG. 1 may be considered as an application of the present invention to the upper limb power amplification master-slave system previously shown in FIG. First, the surface difference between the master-slave system of the present invention shown in FIG. 1 and the upper limb power amplification master-slave system shown in FIG. 6 will be pointed out. In FIG. The work force sensor illustrated as Fs at the work end d is not necessary in this embodiment, and it should be noted that the work force sensor is not shown in FIG.
In a master-slave system 1 according to the present invention shown in FIG. 1 with the triggered feature in the background, is a reasonable way to keep a high operability, the operating force to measure the operating force f _m to the master robot M-terminal G the sensor Fm disposed, is to "projecting" operation force f _m to the slave robot S in the slave driving force to the side tau _s.
Without placing a force sensor to the slave robot S side in Therefore, the present embodiment, the master robot M, the master actuator Am 1 _{~ 3} for generating a master driving force tau _m based on the slave displacement x _s and the master displacement x _m Driven by.
Hereinafter, in the present specification, such a control method or configuration is referred to as a force projection type bilateral control or bilateral master-slave system, and this term is used as needed.
As in FIG. 6, the force progressive bilateral master-slave system 1 according to the present embodiment shown in FIG. 1 is provided at different positions of the trunk B and is electrically connected to each other in the following manner. It consists of M and slave robot S. In the force progressive bilateral master-slave system 1 according to the present embodiment, the master robot M is an admittance type force sense presentation device operated by the operator U.
Each of the master robot M and the slave robot S has a grip G as an operation end and a work end d on one end side, and the other end side is provided at a different position on the trunk B. Each of the master robot M and the slave robot S has two links, one end connected to the grip G or the work end d, the other end connected to the trunk B, and the link. It has a joint at the connecting part.
These joints are provided with master displacement sensors Pm _{1 to 3} and slave displacement sensors Ps _{1 to 3} , master actuators Am _{1 to 3} and slave actuators As _{1 to 3} . In the force progressive bilateral master-slave system 1 according to the present embodiment, the grip G is provided with an operation force sensor Fm. Furthermore, as shown in FIG. 1, the force progressive bilateral master-slave system 1 according to the present embodiment is provided with trajectory control means PCm on the master robot M side and driving force control means FCs on the slave robot S side. The sensor and the actuator are electrically connected.
Operation force sensor Fm is provided in the master robot M side, it detects the master operation force f _m from the operator U. In this embodiment, it is provided on the grip G of the master robot M.
The slave actuators Ps _{1 to 3} are provided at the respective joints of the slave robot S, and generate the slave driving force τ _s through the slave driving force control means FCs based on the signal from the operation force sensor Fm.
Master displacement sensors Pm 1 _{~ 3} is provided at each joint of the master robot M, detects the master displacement x _m. The slave displacement sensor Ps 1 _{~ 3} is provided at each joint of the slave robot S, detects a slave displacement x _s.
The master actuators Am _{1 to 3} are provided at each joint of the master robot M, and generate a master driving force τ _m based on the master displacement x _m and the slave displacement x _s . In the present embodiment, the master actuators Am _{1 to 3} generate the master driving force τ _m through the trajectory control means PCm based on the difference between the signals from the master displacement sensors Pm _{1 to 3} and the slave displacement sensors Ps _{1 to 3} .
Thus, the force progressive die bilateral master slave system 1 according to the present embodiment, is driven by a slave actuator Ps 1 _{~ 3} for the slave robot S that generates a slave driving force tau _s based on the master operating force f _m On the other hand, the master robot M is driven by master actuators Am _{1 to 3} that generate a master driving force τ _m based on an error generated between the master displacement x _m and the slave displacement x _s .
[Operation]
The force progressive feed type according to the present embodiment, which comprises the master robot M, which is an admittance type force sense presentation device operated by an operator, and the slave robot S electrically connected to the master robot M, whose schematic configuration has been described above. The bilateral master-slave system 1
detecting a master operating force f _m from the operator U by i) provided in the master robot M side operation force sensor Fm,
ii) generating a slave driving force τ _s by slave actuators As _{1 to 3} provided in the slave robot S based on a signal from the operation force sensor Fm;
iii) detecting a master displacement x _m by master displacement sensors Pm _{1 to 3} provided in the master robot M;
iv) detecting a slave displacement x _s by slave displacement sensors Ps _{1 to 3} provided in the slave robot S;
v) Master displacement sensors Pm 1 _{~ 3} and the slave displacement sensor Ps 1 _~ generating a master driving force tau _m by the master actuator Am 1 _{~ 3} for generating a master driving force tau _m based on the difference signal from the ₃ to the master robot M Presenting a sense of force to the operator U;
It is controlled through.
Next, the control rule of the force progressive master-slave system 1 according to the present embodiment is as follows, for example.

Equation (10) relates to the master robot side and Equation (11) relates to the slave robot side.
Here, τ _m = τ _m (x _s , x _m ) means that the master driving force τ _m is a function of the slave displacement x _s and the master displacement x _m, and τ _s = τ _s (f That is, _{m 2} ) represents that the slave driving force τ _s is a function of the master operating force f _m .
Then, the following formula is obtained from the above formula (2) and formula (11).

As can be seen from the first term and the second term on the right side of the equation (12), the master operating force f _m is reduced by the influence of the dynamics of the slave robot S and the slave working force f _s of the slave robot S by S _f ^−1. Been added.
If the scale factor _Sf is multiplied on both sides of the above equation (12), the following equation (13) is derived. The scale factor S _f itself is as described above, and the presence of the scale factor S _f allows the operator to become “powerful and get a sense of operating the slave robot and further the target object”. It becomes possible. In terms of the control law, the scale factor S _f can be regarded as a so-called power.

That is, this is a bilateral master-slave system based on the power amplification concept disclosed in Non-Patent Document 2 or 8, in which "the operation force is amplified by _Sf times and the slave terminal is directly operated". The result is an unreasonable expansion. In the force progressive bilateral master-slave system 1 according to the present embodiment, the sense is reversely transmitted by the master actuators Am _{1 to 3} that generate the master driving force τ _m based on the slave displacement x _s and the master displacement x _m. Is done.
In addition, there is a shape feedback master / slave arm disclosed in Non-Patent Document 9 as a method that seems to be similar, but this is a high-frequency response to assist in reverse feeding of the sensor in low gain bilateral control. This is a method of adding a joint for gain unilateral control separately, and it cannot be said that it provides pure bilateral control technology.
[Features]
Here, once the features of the force progressive bilateral master-slave system 1 according to the present embodiment are summarized, the following items are listed.
1. It is assumed that an operation force sensor Fm is required at the operation end of the master robot M, while no force sensor is required on the slave robot S side.
2. And erase the effects of master dynamics of the operation force f _m.
3. Not erase the effect of the slave dynamics of the operation force f _m. However, scaling is possible.
Similar to the master-slave system as a power amplifier like robot forces progressive die bilateral master slave system 1 in FIG. 6 according to the present embodiment shown in FIG. 1, the operation force f _m of the master robot M side is by human power The working power on the slave robot S side is a large output. Further, the impact force from the environment can be avoided on the master robot M side, but the impact force from the environment is unavoidable on the slave robot S side.
That is, the conditions on the master robot M side are appropriate for the multi-axis force sensor, but the slave robot S side is inferior.
Therefore, said 1. This feature is suitable for a master-slave system as a power amplification robot illustrated in FIG. 1 or FIG.
In addition, 2. And 3. This feature is important from the viewpoint of man-machine synergy as described below.
Here, in the force reverse feed type or force feedback type bilateral master-

slave system

32, 33, the operator U mainly matches the operation input to the mechanical impedance of the master robot M and the dynamics controlled by the environment. . On the other hand, in the force progressive bilateral master-slave system 1, the slave robot S and the dynamics controlled by the environment are matched.
For example, in the case of a task such as walking by a master-slave system as a power amplification robot as illustrated in FIG. 2 or 3, the force reverse feed type or force feedback type bilateral master-

slave system

32, 33 has an operator U Matches the operation input to the “cycle in which you can easily walk on the master device (or do not ride on anything)”, but this is forced to follow the non-matching walking cycle for the slave device. Transmission is wasted.
On the other hand, in the force progressive bilateral master-slave system 1, as shown in the equation (13), the operator U can “amplify his own operation force f _m and then walk on the slave device easily. To match the operation input. This is a movement in which energy transmission is not wasted for the slave device.
In other words, from the viewpoint of man-machine synergy that is expected of the operator U's physical skills, rather than letting you feel the dynamics of the master robot M, which is just an operating device (or nothing to feel = mechanism transparency) 3 or FIG. 6, it is understood that it is advantageous to make the slave dynamics feel dominant in the master-slave system as a power amplification robot.
[Theoretical verification]
In the following, in order to explain the superiority of applying the force progressive bilateral master-slave system 1 according to the present invention in the master-slave system as a power amplification robot as illustrated in FIG. 1 to FIG. 3 or FIG. Verify the behavior of various bilateral master-slave systems under certain conditions.
Here, the operation force four bilateral master slave system described above at the time of f _m without adding f _{m =} 0 That is, symmetric bilateral master-slave system 31, Chikaragyakuoku bilateral master-slave system 32, the force Consider the behavior of the feedback bilateral master-slave system 33 and the force progressive bilateral master-slave system 1 according to the present invention. It should be noted that in this case, bilateral master-slave system 31-33 and 1 of the four mentioned above are driven only by an external force -f _s.
In the case of the symmetric bilateral master-slave system 31, from the formula (5), in the case of the force reverse bilateral master-slave system 32, from the formula (7), and in the case of the force feedback type bilateral master-slave system 33 From (9), the following equations (14) to (16) are obtained.

As is apparent from the first term on the right side of each of the equations (14) to (16), when the slave robot S receives an external force, it is under the influence of the dynamics of the master robot M, which is only an operating device. The master-slave system will work. In particular, an increase in the force control gain K _f in order to enhance the operability force feedback bilateral master-slave system 33, so that the master robot M is largely driven by any external force -f _s.
On the other hand, in the case of the force progressive bilateral master-slave system 1, from the equation (12),

It is. At this time, the slave robot S moves with its own dynamics against the external force, as is apparent from the right side of the equation (17).
That is, in the force progressive bilateral master-slave system 1, it was verified from the theory that "the slave robot S moves according to the slave dynamics". At first glance, this seems to be quite natural according to the natural providence, but bilateral control is performed in the master-slave system as a power amplification robot as illustrated in FIGS. When applied, it should be recognized as a very important performance factor.
As is clear from the above, in the force progressive bilateral master-slave system 1, the master-slave system is not excessively moved by an external force.
By the way, in the symmetric type bilateral master / slave system 31, the force reverse type bilateral master / slave system 32, and the force feedback type bilateral master / slave system 33, "the slave robot S is interlocked with the master robot M" according to the equation (4). . External force -f _s master robot M by is moved (see formula (14) to (16)) and also in conjunction slave robot S, whereby an external force -f _s is changed. This contributes to destabilization of the master / slave system. That is, there is a possibility that the operator U is bilateral control is unstable only by external force -f _s do nothing.
On the other hand, in the force progressive bilateral master-slave system 1 of the present invention, the “master is interlocked with the slave” according to the equation (10), but if the operating force f _m = 0 as described in the theoretical verification, the equation As in (17), the slave is disconnected from the master.
That is, if the operator releases the hand (foot) from the master, the bilateral control is not destabilized by the external force. This point should also be recognized as an extremely important performance determination factor when bilateral control is applied to a master-slave system as a power amplification robot as illustrated in FIG. 1 to FIG. 3 or FIG.
[Admittance-type haptic presentation and impedance-type haptic presentation]
As described above, the force progressive die bilateral master slave system 1 of the present invention shown in FIG. 1, the master robot M which manipulated by the operator U, while outputting a master operating force f _m received from the operator U, It is an admittance type force sense presentation device that generates a master drive force τ _m by receiving a displacement or speed input and presents a force sense to the operator. That is, as shown in FIG. 4, when viewed from the master robot M side, it can be said that the force progressive bilateral master-slave system 1 according to the present invention is an admittance type force sense presentation.
Unlike this, in the force reverse feed type or force feedback type bilateral master-

slave systems

32 and 33 shown in FIG. 10 or 11, it can be said that the master robot M is an impedance type force sense presentation device (see FIG. 4).
In the case of impedance-type force sense presentation, the master robot M can be operated and input from any part of the apparatus. On the other hand, the slave robot S can not present a force sense unless it is a reaction force from the work force sensor Fs portion. That is, the operator U must perform work using a part other than the work force sensor Fs portion of the slave robot S without a sense of force, and may not be able to recognize contact with the environment other than the work force sensor Fs part. is there.
However, since the force progressive bilateral master-slave system 1 according to the present invention uses the master robot M as an admittance type force sense presentation device, a reaction force from any part of the slave robot S can be presented to the master robot M. it can. On the other hand, an operation input to the master robot M by the operator U is performed from the operation force sensor Fm portion.
[Expression in general form]
By the way, a general expression is given to the bilateral control system of the master-slave system (see Non-Patent Document 4). FIG. 12 is a conceptual diagram showing a general expression of the control system of the master / slave system.
As for the force progressive bilateral master-slave system 1 according to the present invention, the possibility of the same notation was tried, and it was verified retrospectively that the general form can be expressed as follows.
K _m and K _s are gain matrices of the master / slave system.

Here, if it applies to the said general form, the control law of the force progressive bilateral master-slave system 1 which concerns on this invention can be expressed as follows.

There has never been an example where bilateral control is discussed in such a setting.
[Modification]
As described above, the force progressive bilateral master-slave system according to the present invention has been described in order using one embodiment. However, the present invention is not limited to the configuration described in the first embodiment, and various modifications can be made. is there.
For example, in the present embodiment, the master actuators Am _{1 to 3} generate the master driving force τ _m based on an error generated between the master displacement x _m and the slave displacement x _s. However, the control may be performed to generate the master driving force τ _m based on an amount other than an error, for example, a differential amount of displacement.
The number of master or slave actuators and the number of master or slave displacement sensors are not limited to the numbers described in the above embodiments.
In the above description of the embodiment, only displacement and driving force are described. However, the displacement is not limited to translational displacement, but may be generalized displacement that allows a mixture of rotational displacements, and the driving force is not limited to translational force. It may be a generalized driving force that allows a mixture of torques.
As described above, the force progressive bilateral master-slave system according to the present invention operates at least an electrically connected slave robot at least electrically by an operator operating a relatively small output master robot. Providing a master-slave system that allows an operator to perform intuitive maneuvering as if it had a slave robot directly, and that does not require a force sensor on the slave robot side. It is clear that it can be new and useful.

The present invention can be used for a master-slave system.

B Trunk d, dA, dL Working edge E Environment G, GA, GL Grip M, MA, ML Master MC Mechanical connection S, SA, SL Slave U Operator Am _n Master actuator (n: integer)
As _n slave actuator (n: integer)
Fm Operation force sensor Fs Work force sensor Pm _n Master displacement sensor (n: integer)
Ps _n slave displacement sensor (n: integer)
FCm, FCs Driving force control means PCm, PCs Trajectory control means 1 Master-slave system 1 'related to force progressive bilateral control Master-slave system 10 by generalized bilateral control Different structure master-slave manipulator 20 Mechanical master Slave system 30 Unilateral control system 31 Symmetric bilateral control system 32 Force reverse feed type bilateral control system 33 Force feedback type bilateral control system 50 Generalized controller 100 Master slave system expressed in generalized form

Claims

A bilaterally controlled master-slave system comprising a master robot that is an admittance type force sense presentation device operated by an operator and a slave robot that is at least electrically connected to the master robot,
At least one master displacement sensor for detecting a master displacement in the master robot;
At least one slave displacement sensor for detecting slave displacement in the slave robot;
At least one master actuator for generating a master driving force for driving the master robot;
At least one slave actuator for generating a slave driving force for driving the slave robot;
At least one operating force sensor for detecting a master operating force applied by the operator to the master robot;
With
While the slave actuator generates the slave driving force based on the master operating force,
The master actuator generates the master driving force based on the master displacement and the slave displacement;
A master-slave system characterized by this.
A bilaterally controlled master-slave system control method comprising a master robot that is an admittance type force sense presentation device operated by an operator and a slave robot that is at least electrically connected to the master robot,
Detecting a master operating force applied by the operator to the master robot by at least one operating force sensor;
Causing the slave robot to generate a slave driving force based on the master operating force by at least one slave actuator;
Detecting the master displacement of the master robot by at least one master displacement sensor, and further detecting the slave displacement of the slave robot by at least one slave displacement sensor;
Generating a master driving force for the master robot based on the master displacement and the slave displacement by at least one master actuator, and presenting a force sense to the operator;
A method for controlling a master-slave system, comprising: