WO2018212199A1 - Dispositif d'actionnement et son procédé de fonctionnement - Google Patents

Dispositif d'actionnement et son procédé de fonctionnement Download PDF

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Publication number
WO2018212199A1
WO2018212199A1 PCT/JP2018/018805 JP2018018805W WO2018212199A1 WO 2018212199 A1 WO2018212199 A1 WO 2018212199A1 JP 2018018805 W JP2018018805 W JP 2018018805W WO 2018212199 A1 WO2018212199 A1 WO 2018212199A1
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WO
WIPO (PCT)
Prior art keywords
link
arm
movable
unit
arm portions
Prior art date
Application number
PCT/JP2018/018805
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English (en)
Japanese (ja)
Inventor
掃部　雅幸
秀行 笠
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Publication of WO2018212199A1 publication Critical patent/WO2018212199A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the present invention relates to an operating device and an operation method thereof.
  • a multi-degree-of-freedom force sense manipulator shown in Patent Document 1 is known as an operation device used for remote operation of a robot or the like.
  • This force sense presentation manipulator includes a manipulator base, an end effector, a pair of parallel link mechanisms having a pair of three translational degrees of freedom supporting the end effector, and a pair of parallel link mechanisms and an end effector.
  • a driving means for driving a pair of parallel link mechanisms The end effector is converted into a translational motion of 3 degrees of freedom and a rotational motion of 2 degrees of freedom with respect to the base by the power of the driving means, the pair of parallel link mechanisms and the pair of gimbal mechanisms.
  • This invention solves the said conventional subject, and it aims at providing the operating device which can be maintained to a reference
  • An operating device includes a base portion, an operating portion that is disposed above the base portion and includes a movable portion and a gripped portion, and a pair of links that include a first arm portion and a second arm portion.
  • a parallel link mechanism provided with a portion, a driver for driving the link portion, a position sensor for detecting the position of the movable portion displaced by the link portion to be driven, and the movable portion detected by the position sensor
  • a controller for controlling the driver according to the position of the first arm portion, the first arm portion being pivotally connected to the base portion, and the second arm portion being a base portion.
  • An end is pivotally or linearly connected to the first arm, and a tip is pivotally connected to the movable part.
  • the controller returns the position of the movable part to the origin. At least the driving force of the pair of link portions Meanwhile the driver is configured to drive so as to impart to.
  • the controller may be configured to drive the driver so as to apply the driving force corresponding to the displacement amount of the movable part to a pair of the link parts.
  • the controller applies the driving force corresponding to the displacement amount of the movable portion to one of the link portions of the pair of link portions, and drives to follow the displacement of the one link portion.
  • the driver may be configured to drive so as to apply a force to the other link portion.
  • the controller increases the driving force in the direction opposite to the displacement direction of the movable part and the position of the movable part as the displacement speed of the movable part increases based on the detection result of the position sensor.
  • the driving device may be driven so as to apply a driving force combined with the driving force for returning to the origin to at least one of the pair of link portions.
  • An operating method of an operating device includes a base portion, an operating portion disposed above the base portion and having a movable portion and a gripped portion, and a first arm portion and a second arm portion.
  • a parallel link mechanism provided with a pair of link parts, a driver for driving the link part, a position sensor for detecting the position of the movable part displaced by the link part to be driven, and the position sensor
  • a controller for controlling the driver in accordance with the position of the movable part, wherein the first arm part has a base end part rotatably connected to the base part, and the second arm part Is a method of operating an operating device in which a base end portion is pivotally or linearly connected to the first arm portion, and a distal end portion is pivotally connected to the movable portion.
  • FIG. 1 is a perspective view showing a schematic configuration of the operating device according to the first embodiment.
  • FIG. 2 is a top view of the operating device of FIG.
  • FIG. 3 is a block diagram showing the configuration of the controller of the operating device according to the first embodiment.
  • FIG. 4 is a diagram schematically showing a part of the operation device in the reference posture of FIG.
  • FIG. 5A and FIG. 5B are diagrams schematically showing a part of the operating device in which the posture of FIG. 4 is changed.
  • FIG. 6 is a flowchart illustrating an example of a method of operating the operating device illustrated in FIG.
  • FIG. 7 is a flowchart showing an example of a method for operating the operating device according to the modification of the first embodiment.
  • FIG. 1 is a perspective view showing a schematic configuration of the operating device according to the first embodiment.
  • FIG. 2 is a top view of the operating device of FIG.
  • FIG. 3 is a block diagram showing the configuration of the controller of the operating device according to the first embodiment
  • FIG. 8 is a flowchart showing an example of a method for operating the operating device according to the second embodiment.
  • FIG. 9 is a flowchart illustrating an example of a method for operating the operating device according to the modification of the second embodiment.
  • FIG. 10 is a perspective view showing a schematic configuration of the operating device according to the third embodiment.
  • FIG. 11 is a block diagram showing the configuration of the controller of the operating device of FIG.
  • FIG. 1 the up-down direction, the front-rear direction, and the left-right direction in the operating device 100 are represented as the up-down direction, the front-rear direction, and the left-right direction in the drawing.
  • the operating device 100 includes a base unit 101, an operating unit 102, a parallel link mechanism 103, angle sensors 104A to 104F, drivers 106A to 106F, and a controller 120.
  • the operating device 100 controls (remotely operates) the position and / or posture of a robot (FIG. 3) provided away from the operating device 100 when the operator operates the operation unit 102.
  • the base unit 101 is formed in a substantially rectangular flat plate, and the operation unit 102 is disposed above the base unit 101.
  • the base unit 101 and the operation unit 102 are connected by a parallel link mechanism 103 so as to have six degrees of freedom.
  • the operation unit 102 includes a movable unit 11 and a gripped unit 12.
  • the movable part 11 is composed of a plate-like part to which the upper end of the parallel link mechanism 103 is connected and a columnar part standing on the upper surface of the plate-like part.
  • the gripped portion 12 is a portion gripped by the operator, and is provided with various buttons 12A and 12B for operating the robot (FIG. 3).
  • the gripped portion 12 is arranged such that the axis of the gripped portion 12 is inclined forward in the operation device 100 in a predetermined reference posture with the movable portion 11 at the origin. Thereby, when an operator hold
  • the parallel link mechanism 103 has a plurality of (six in this embodiment) link portions 103A to 103F, and the link portions 103A to 103F form three pairs.
  • the link portions 103A and 103B are paired
  • the link portions 103C and 103D are paired
  • the link portions 103E and 103F are paired.
  • the three pairs of links 103A to 103F are arranged at equiangular intervals (120 ° intervals) when viewed from above.
  • the link part 103A has a first arm part 14A and a second arm part 15A
  • the link part 103B has a first arm part 14B and a second arm part 15B
  • the link part 103C has a first arm part 14C and a second arm part 15C
  • the link part 103D has a first arm part 14D and a second arm part 15D
  • the link part 103E has a first arm part 14E and a second arm part 15E
  • the link part 103F has a first arm part 14F and a second arm part 15F.
  • the upper ends (tip portions) of the second arm portions 15A to 15F are rotatably connected to the lower surface of the movable portion 11 of the operation portion 102 via the first joints 107A to 107F.
  • the second arm portions 15A to 15F are rotatably connected at their lower end portions (base end portions) to the upper end portions (tip end portions) of the first arm portions 14A to 14F via the second joints 108A to 108F.
  • the first joints 107A to 107F and the second joints 108A to 108F may be various joints such as a universal joint or a ball joint.
  • the first arm portions 14A to 14F are formed in a substantially V shape, and the bent portions constitute the base end portions of the first arm portions 14A to 14F.
  • the base end portions of the first arm portions 14A to 14F are rotatably connected to the base portion 101 by appropriate means via the substantially L-shaped support members 111A to 111F.
  • the output shaft of the driver 106A is directly or indirectly fixed to the base end portions of the first arm portions 14A to 14F by appropriate means.
  • the output shafts of the drivers 106A to 106F may be supported by support members (eg, bearings) 111A to 111F provided on the support members 111A to 111F.
  • the proximal end portion of the first arm portion 14A and the proximal end portion of the first arm portion 14B are adjacently fixed to the base portion 101, and the distal end portion of the second arm portion 15A. And the tip of the second arm portion 15B are fixed to the movable portion 11 adjacent to each other.
  • the link portion 103C and the link portion 103D forming a pair the base end portion of the first arm portion 14C and the base end portion of the first arm portion 14D are adjacently fixed to the base portion 101, and the tip end portion of the second arm portion 15C. And the tip of the second arm portion 15D are fixed to the movable portion 11 adjacent to each other.
  • the proximal end portion of the first arm portion 14E and the proximal end portion of the first arm portion 14F are fixed to the base portion 101 adjacent to each other, and the distal end portion of the second arm portion 15E And the tip of the second arm portion 15F are fixed to the movable portion 11 adjacent to each other.
  • the drivers 106A to 106F for example, a servo motor is used, and the drivers 106A to 106F are provided on the base unit 101 so that the output shaft is parallel to the base unit 101.
  • the link part 103A and link part 103B which make a pair it arrange
  • the link part 103C and link part 103D which make a pair it arrange
  • the first arm portions 14A to 14F are rotated around the output shafts of the drivers 106A to 106F by the drivers 106A to 106F, and accordingly, the second arm portions 15A to 15F connected to the first arm portions 14A to 14F It rotates around the second joints 108A to 108F. Accordingly, the drivers 106A to 106F drive the link portions 103A to 103F having the first arm portions 14A to 14F and the second arm portions 15A to 15F. Accordingly, the first arm portions 14A to 14F rotate from the respective reference angles with respect to the base portion 101, and the movable portion 11 connected to the link portions 103A to 103F is displaced from the origin.
  • the drivers 106A to 106F are provided with angle sensors 104A to 104F for detecting the rotation angles of the first arm portions 14A to 14F. Specifically, when the angle sensors 104A to 104F detect the rotation angles of the output shafts of the drivers 106A to 106F, the rotation angles of the first arm portions 14A to 14F are obtained.
  • the angle sensors 104A to 104F a rotary encoder, a potentiometer, a laser sensor, or the like is used.
  • the angle sensors 104A to 104F also function as position sensors that detect the position of the movable part 11 that is displaced by the link parts 103A to 103F to be driven.
  • the controller 120 includes a calculation unit 121, a storage unit 122, and driving units 123A to 123F.
  • the controller 120 may be configured by a single controller 120 that performs centralized control, or may be configured by a plurality of controllers 120 that perform distributed control in cooperation with each other.
  • the storage unit 122 includes a ROM, a RAM, and the like, and stores information such as basic programs and various fixed data.
  • the calculation unit 121 is configured by a microprocessor, a CPU, and the like, and controls various operations of the controller device 100 by reading and executing software such as a basic program stored in the storage unit 122. For example, the calculation unit 121 is driven according to the position of the movable unit 11 detected by the position sensor (in this embodiment, the rotation angle of the output shaft of the drivers 106A to 106F detected by the angle sensors 104A to 104F). The devices 106A to 106F are controlled.
  • the controller 120 determines the angles of the first arm portions 14A to 14F relative to the base portion 101 based on the rotation angles of the first arm portions 14A to 14F (rotation angles of the output shafts of the drivers 106A to 106F).
  • the drivers 106A to 106F are driven so as to apply torque (return torque) for returning to the reference angle to at least one of the pair of first arm portions 14A to 14F.
  • the controller 120 drives the drivers 106A to 106F so as to apply a driving force (return torque) for returning the position of the movable portion 11 to the origin to at least one of the pair of link portions 103A to 103F.
  • the driving unit 123A is, for example, a motor driver, and drives the driving unit 106A by supplying a driving current to the driving unit 106A according to the torque command value from the calculation unit 121.
  • the driving units 123B to 123F supply driving currents to the corresponding drivers 106B to 106F from the calculation unit 121 according to the torque command values, respectively, to drive the drivers 106B to 106F.
  • the operator operates the operation device 100 having a predetermined reference posture. 4, the angle of the first arm portions 14A to 14F with respect to the base portion 101 is a predetermined reference angle, and the movable portion 11 is located at a predetermined origin. In such a reference posture of the operating device 100, for example, the angles of the first arm portions 14A to 14F with respect to the base portion 101 are equal. Further, the lower surface of the movable portion 11 is parallel to the base portion 101 and is, for example, horizontal.
  • the movable unit 11 moves up and down, front and back as shown in FIGS. 5 (a) and 5 (b). Displace from the origin in the left-right direction. Accordingly, the second arm portions 15A to 15F and the first arm portions 14A to 14F rotate.
  • the computing unit 121 acquires the rotation angles of the output shafts of the drivers 106A to 106F corresponding to the angles of the first arm portions 14A to 14F with respect to the base portion 101 from the angle sensors 104A to 104F (step S1).
  • the calculation unit 121 obtains the angles of the first arm units 14A to 14F with respect to the base unit 101 from the rotation angles detected by the angle sensors 104A to 104F (step S2).
  • the relationship between the rotation angles detected by the angle sensors 104A to 104F and the angles of the first arm portions 14A to 14F with respect to the base portion 101 is associated in advance with a relational expression, a table, and the like.
  • the calculation unit 121 obtains return torques of the drivers 106A to 106F for returning the angles of the first arm units 14A to 14F with respect to the base unit 101 to the reference angle (step S3).
  • the return torques of the drivers 106A to 106F correspond to the amount of change from the reference angle of the angles of the first arm portions 14A to 14F with respect to the base portion 101.
  • the direction and magnitude of the angle change amount correspond to the direction and magnitude of the return torque, which are set in advance.
  • the calculation unit 121 outputs torque command values of the drivers 106A to 106F corresponding to the return torque to the drive units 123A to 123F.
  • the calculation unit 121 outputs torque command values to all the drive units 123A to 123F so that this return torque is generated in each of the pair of drivers 106A to 106F. Note that the arithmetic unit 121 does not have to output a torque command value to the driving units 123A to 123F of the drivers 106A to 106F in which the angles of the first arm units 14A to 14F with respect to the base unit 101 are reference angles. .
  • the drive units 123A to 123F that have received the torque command value from the calculation unit 121 output drive currents to the corresponding drivers 106A to 106F, respectively (step S4).
  • a return torque corresponding to the direction and magnitude of the angle change amount of the first arm portions 14A to 14F with respect to the base portion 101 is generated in the drivers 106A to 106F.
  • This return torque causes the drivers 106A to 106F to drive the first arm portions 14A to 14F in a direction in which the angle of the first arm portions 14A to 14F with respect to the base portion 101 becomes a reference angle.
  • the movable portion 11 connected to the first arm portions 14A to 14F via the second arm portions 15A to 15F returns to the origin, and the operating device 100 assumes the reference posture.
  • the magnitude of the return torque generated in the drivers 106A to 106F corresponds to the magnitude of the angle change amount of the first arm parts 14A to 14F with respect to the base part 101.
  • the magnitude of the angle change from the reference angle and the magnitude of the return torque are associated in advance.
  • This return torque is transmitted to the operation unit 102 via the arm and the link, and the operator holding the operation unit 102 responds to the magnitude of the angle change amount from the reference angle of the first arm units 14A to 14F.
  • the operation position from the origin of the movable part 11 can be intuitively recognized by receiving the magnitude of the return torque.
  • the controller 120 drives the drivers 106A to 106F so as to apply a driving force for returning the position of the movable portion 11 to the origin to the pair of link portions 103A to 103F. Accordingly, the return torque for returning the angles of the first arm portions 14A to 14F to the reference angle based on the angle change amount from the reference angle with respect to the angles of the first arm portions 14A to 14F with respect to the base portion 101 is a pair of first arm portions 14A. To 14F. For this reason, the torque command value output from the controller 120 is a command value for maintaining the controller device 100 in the reference posture, and the controller device 100 can easily maintain the reference posture.
  • the controller 120 drives the drivers 106A to 106F so as to apply a driving force corresponding to the displacement amount of the movable portion 11 to the pair of link portions 103A to 103F.
  • the return torque corresponding to the angle change amount from the reference angle with respect to the angle of the first arm portions 14A to 14F with respect to the base portion 101 is applied to the pair of first arm portions 14A to 14F. Therefore, the operator can easily recognize the displacement from the origin of the movable portion 11 by the magnitude and direction of the return torque corresponding to the change amount of the angle of the first arm portions 14A to 14F, and the operation device 100 can be easily operated. be able to.
  • the controller 120 uses the driving force (attenuating torque) that is larger as the displacement speed of the movable portion 11 based on the detection result of the position sensor is larger and is opposite to the displacement direction of the movable portion 11 and the position of the movable portion 11 as the origin.
  • the drivers 106A to 106F are driven so that a driving force (total torque) combined with the returning driving force (returning torque) is applied to the pair of link portions 103A to 103F.
  • the movable portion 11 is displaced by the rotation of the first arm portions 14A to 14F. Therefore, the displacement speed of the movable part 11 based on the detection result of the position sensor corresponds to the angular speed of the first arm parts 14A to 14F based on the angle sensors 104A to 104F.
  • the damping torque is a torque that increases as the angular velocity of the first arm portions 14A to 14F increases and is in a direction opposite to the rotational direction of the first arm portions 14A to 14F.
  • the return torque is torque that returns the angle of the first arm portions 14A to 14F to the base portion 101 to the reference angle.
  • steps S5 and S6 are executed between steps S3 and S4 of FIG. 6, and step S4 ′ is performed instead of step S4 of FIG. 6.
  • steps S1 to S3 in FIG. 7 are the same as the processes in steps S1 to S3 in FIG. 6, and thus detailed description thereof is omitted.
  • the movable unit 11 is displaced from the origin by the operation of the operation device 100 by the operator, and accordingly, the first arm portions 14A to 14F are rotated from the reference angle, so that the operation device 100 is moved from the reference posture.
  • Change posture The calculation unit 121 obtains the angles of the first arm portions 14A to 14F with respect to the base portion 101 from the rotation angles detected by the angle sensors 104A to 104F (steps S1 and S2), and the first arm portions 14A to 14F from the reference angle.
  • the return torque is obtained based on the angle change amount to the angle (step S3).
  • the calculation unit 121 calculates the angular velocity of the rotation of the first arm units 14A to 14F based on the rotation angles detected by the angle sensors 104A to 104F (step S5).
  • the rotation angles by the angle sensors 104A to 104F and the rotation angles of the first arm portions 14A to 14F are associated in advance.
  • the angular velocities of the first arm portions 14A to 14F are obtained from the rotation angles of the first arm portions 14A to 14F per unit time. Note that the angular velocities of the rotation angles by the angle sensors 104A to 104F may be obtained as the angular velocities of the first arm portions 14A to 14F.
  • the calculation unit 121 determines the direction of the damping torque of the drivers 106A to 106F in the direction opposite to the direction of the angular velocity of the first arm portions 14A to 14F, and obtains the magnitude of the damping torque according to the magnitude of the angular velocity (Step S6). ).
  • the magnitude of the damping torque of the drivers 106A to 106F is preset in advance as the angular velocity increases.
  • the calculation unit 121 obtains a total torque obtained by combining the return torque obtained in step S3 and the damping torque obtained in step S6, and outputs a torque command value corresponding to the total torque to each of the drive units 123A to 123F. .
  • the driving units 123A to 123F receive torque command values from the calculation unit 121, and output driving currents to the corresponding drivers 106A to 106F, respectively (step S4 '). As a result, a total torque obtained by adding the return torque and the damping torque is generated in the drivers 106A to 106F. Therefore, along with the force that the angles of the first arm portions 14A to 14F return to the reference angle, a damping torque that is opposite to the displacement direction to suppress the fast movement is applied from the drivers 106A to 106F to the first arm portions 14A to 14F. Is granted. As a result, the controller device 100 assumes the reference posture, and the movement of the first arm portions 14A to 14F and the like at that time becomes smooth.
  • the movable portion 11 is positioned at a predetermined origin, and the angle of the first arm portions 14A to 14F with respect to the base portion 101 is a reference angle.
  • the reference posture of the controller device 100 may be arbitrarily set by an operator or the like. Thereby, the reference posture of the controller device 100 may be changeable.
  • the controller 120 applies a driving force (return torque) corresponding to the displacement amount of the movable portion 11 to one link portion of the pair of link portions 103A to 103F, and causes the driving force (following) to follow the displacement of the one link portion.
  • the drivers 106A to 106F are driven so that torque is applied to the other link portion.
  • the movable portion 11 is displaced by the rotation of the first arm portions 14A to 14F. Therefore, the amount of displacement of the movable portion 11 corresponds to the amount of change in angle of the first arm portions 14A to 14F with respect to the base portion 101.
  • the link portions 103A to 103F have first arm portions 14A to 14F and second arm portions 15A to 15F, and the first arm portions 14A to 14F are driven by the drivers 106A to 106F. Therefore, the follow-up torque is a torque that causes one of the first arm portions 14A to 14F displaced by the return torque to follow the other first arm portion 14A to 14F.
  • first arm portions 14A, 14C, and 14E on the left side of each pair of the first arm portions 14A to 14F are regarded as one first arm portion when the first arm portions 14A to 14F are viewed from the movable portion 11.
  • the right first arm portions 14B, 14D, and 14F will be described as the other first arm portion.
  • the opposite may be possible.
  • the directions do not have to match.
  • the calculation unit 121 acquires the rotation angle (one rotation angle) detected by one of the angle sensors 104A, 104C, and 104E (step S11).
  • One angle sensor 104A, 104C, 104E is an output of a driver (one driver) 106A, 106C, 106E that drives one of the first arm portions 14A, 14C, 14E of the pair of first arm portions 14A-14F.
  • the rotation angle of the shaft (one rotation angle) is detected.
  • the calculating part 121 calculates
  • the relationship between the magnitude of the one rotation angle and the magnitude of the angle of the first arm portions 14A, 14C, 14E with respect to the base portion 101 is associated in advance by a relational expression, a table, or the like.
  • the calculation unit 121 returns the angle of the first arm portions 14A, 14C, and 14E to the reference angle based on the amount of change in angle from the reference angle of the first arm portions 14A, 14C, and 14E with respect to the base portion 101.
  • the return torque of one of the drivers 106A, 106C, 106E is obtained (step S13).
  • the direction and magnitude of the return torque correspond to the direction and magnitude of the angle change amount from the reference angle of one of the first arm parts 14A, 14C, 14E with respect to the base part 101, respectively. That is, the direction of the return torque is a direction in which the angle of one of the first arm portions 14A, 14C, and 14E with respect to the base portion 101 returns to the reference angle.
  • the magnitude of the return torque is, for example, larger as the angle change amount of one of the first arm portions 14A, 14C, 14E with respect to the base portion 101 is larger.
  • the calculating part 121 outputs the torque command value corresponding to a return torque to one drive part 123A, 123C, 123E.
  • the calculation unit 121 outputs a torque command value to the drive units 123A to 123F of the drivers 106A to 106F in which the angle of one of the first arm units 14A, 14C, and 14E with respect to the base unit 101 is the reference angle. It does not have to be.
  • the one drive unit 123A, 123C, 123E that has received the torque command value from the calculation unit 121 outputs a drive current to one of the drivers 106A, 106C, 106E, respectively (step S14). For this reason, a return torque corresponding to the angle change amount of one of the first arm portions 14A, 14C, 14E with respect to the base portion 101 is generated in one of the drivers 106A, 106C, 106E.
  • the one driver 106A, 106C, 106E rotates the angle of the first arm portions 14A to 14F in a direction to return to the reference angle, and one of the first arms via the second arm portions 15A, 15C, 15E.
  • the movable part 11 connected to the parts 14A, 14C, and 14E moves in a direction to return to the origin.
  • the angle sensors 104B, 104D, and 104F detect the rotation angles (the other rotation angles) of the drivers (the other drivers) 106B, 106D, and 106F connected to the other first arm portions 14B, 14D, and 14F.
  • the angle sensors 104A, 104C, and 104E detect the rotation angles of the drivers (one driver) 106A, 106C, and 106E connected to the first arm portions 14A, 14C, and 14E and output them to the calculation unit 121.
  • the calculating part 121 acquires the rotation angle (a pair of rotation angle) by one driver 106B, 106D, 106F and the other driver 106A, 106C, 106E (step S15).
  • the calculation unit 121 determines the relative angle of the other first arm parts 14B, 14D, and 14F with respect to the first arm parts 14A, 14C, and 14E (the first arm parts 14A, 14C, and 14E and the other first arm portions 14B, 14D, and 14F are obtained (a pair of relative angles)) (step S16).
  • the calculation unit 121 causes the other first arm portions 14B, 14D, and 14F to follow the other first arm portions 14A, 14C, and 14E, and the other drivers 106B and 106D. 106F (step S17).
  • the following torque is a torque for causing the first arm portions 14A, 14C, 14E and the other first arm portions 14B, 14D, 14F to have a certain positional relationship such as a predetermined angle (for example, parallel). .
  • the calculation unit 121 outputs a torque command value corresponding to the following torque to the other drive units 123A to 123F.
  • the other first arm portion 14B, 14D. , 14F does not have to output the torque command value to the drive units 123B, 123D, and 123F of the drivers 106B, 106D, and 106F.
  • the other drive units 123B, 123D, and 123F that have received the torque command value from the calculation unit 121 output drive currents to the corresponding drive units (the other drive units) 106B, 106D, and 106F, respectively (step S18).
  • a following torque corresponding to the pair of relative angles is generated in the other drivers 106B, 106D, and 106F.
  • the other first arm portions 14B, 14D, and 14F connected to the other drivers 106B, 106D, and 106F rotate following the first arm portions 14A, 14C, and 14E paired therewith.
  • the pair of first arm portions 14A to 14F have a certain positional relationship. For this reason, the movable portion 11 connected to the first arm portions 14A to 14F via the second arm portions 15A to 15F returns to the origin, and the controller device 100 assumes the reference posture.
  • the controller 120 applies a driving force (return torque) corresponding to the amount of displacement of the movable portion 11 to one link portion 103A, 103C, 103E of the pair of link portions 103A to 103F.
  • the driving units 106A to 106F are driven so as to apply a driving force (following torque) to the other links 103B, 103D, and 103F.
  • the controller 120 applies a return torque corresponding to the angle change amount of one of the first arm portions 14A, 14C, and 14E with respect to the base portion 101 to one of the first arm portions 14A and 14F of the pair of first arm portions 14A to 14F.
  • the drivers 106B, 106D, and 106F are driven so as to be applied to 14C and 14E. Further, the drivers 106B, 106D, and 106F are driven so that a follow-up torque that follows the displacement of the first arm portions 14A, 14C, and 14E is applied to the other first arm portions 14B, 14D, and 14F.
  • the torque command value output from the controller 120 becomes a command value for maintaining the controller device 100 in the reference posture, and the controller device 100 can easily maintain the reference posture.
  • the operator can easily recognize the displacement from the origin due to the magnitude of the return torque corresponding to the angle change amount of the first arm portions 14A, 14C, and 14E from the reference angle, and the operation device 100 can be easily operated. it can.
  • the controller 120 uses the driving force (attenuating torque) that is larger as the displacement speed of the movable portion 11 based on the detection result of the position sensor is larger and is opposite to the displacement direction of the movable portion 11 and the position of the movable portion 11 as the origin.
  • the drivers 106A to 106F are driven so that a driving force (total torque) combined with the returning driving force (returning torque) is applied to one of the pair of link portions 103A to 103F.
  • the movable portion 11 is displaced by the rotation of the first arm portions 14A to 14F. Therefore, the displacement speed of the movable part 11 based on the detection result of the position sensor corresponds to the angular speed of the first arm parts 14A to 14F based on the angle sensors 104A to 104F.
  • the controller 120 increases as the torque (following torque) that follows the displacement of one of the first arm portions 14A, 14C, and 14E and the angular velocity of the rotating first arm portions 14B, 14D, and 14F increase.
  • a torque (total torque) that is a sum of torques (damping torques) in the direction opposite to the rotation direction of the other first arm portions 14B, 14D, and 14F is applied to the other first arm portions 14B, 14D, and 14F.
  • steps S19 and S20 are executed between steps S13 and S14 of FIG. 8, and between steps S17 and S18 of FIG. Steps S21 and S22 are executed, and step S14 ′ and step S18 ′ are executed instead of step S14 and step S18 of FIG. 8, respectively. Since the processes in steps S11 to S17 in FIG. 9 are the same as the processes in steps S11 to S17 in FIG. 8, detailed description thereof is omitted.
  • the movable portion 11 is displaced from the origin, the first arm portions 14A to 14F rotate from the reference angle, and the operation device 100 changes the posture from the reference posture.
  • the angle sensors 104A, 104C, 104E detect and calculate the rotation angle (one rotation angle) of the output shaft of the one driver 106A, 106C, 106E accompanying the displacement of the one first arm portion 14A, 14C, 14E. It outputs to the part 121 (step S11).
  • the computing unit 121 obtains the angles of the first arm parts 14A, 14C, and 14E with respect to the base part 101 from the one rotation angle (step S12), and obtains the return torque based on the angle change amount from the reference angle (step S12). S13).
  • the computing unit 121 computes the angular velocity (one angular velocity) of the first arm portions 14A, 14C, 14E based on the one rotation angle detected by the one angle sensor 104A, 104C, 104E (step S19). ).
  • the rotation angle by the angle sensors 104A, 104C, 104E and the rotation angle of one of the first arm portions 14A, 14C, 14E are associated in advance.
  • One angular velocity is obtained from the rotation angle of one of the first arm portions 14A, 14C, and 14E per unit time. Note that the angular velocity of the rotation angle by the angle sensors 104A, 104C, and 104E may be obtained as one angular velocity.
  • the calculation unit 121 determines the direction of the damping torque of the drivers 106A, 106C, and 106E in the direction opposite to the direction of the one angular velocity, and obtains the magnitude of the damping torque according to the magnitude of the angular velocity (step S20).
  • the magnitude of the damping torque of the drivers 106A, 106C, and 106E is set in advance so as to increase as the angular velocity increases.
  • the calculation unit 121 obtains a total torque obtained by combining the return torque obtained in Step S13 and the damping torque obtained in Step S20, and obtains a torque command value corresponding to the total torque as one of the drive units 123A, 123C, 123E. (Step S14 ').
  • the total torque of the return torque and the damping torque is applied to one of the first arm portions 14A, 14C, 14E, and the one first arm portion 14A, 14C, 14E rotates in a direction in which the angle becomes the reference angle. To do.
  • the calculation unit 121 obtains a tracking torque that causes the other first arm portions 14B, 14D, and 14F to follow the first arm portions 14A, 14C, and 14E (step S15). To S17).
  • the angular velocity (the other angular velocity) of the other first arm portions 14B, 14D, 14F is calculated (step S21).
  • the rotation angle by the angle sensors 104B, 104D, and 104F and the rotation angle (the other rotation angle) of the other first arm portions 14B, 14D, and 14F are associated in advance.
  • the other angular velocity is obtained from the other rotation angle per unit time. Note that the angular velocity of the rotation angle by the angle sensors 104B, 104D, and 104F may be obtained as the other angular velocity.
  • the calculation unit 121 determines the direction of the damping torque of the drivers 106B, 106D, and 106F in the direction opposite to the direction of the other angular velocity, and obtains the magnitude of the damping torque corresponding to the magnitude of the angular velocity (step S22).
  • the magnitude of the damping torque of the drivers 106B, 106D, and 106F is set in advance so as to increase as the angular velocity increases.
  • the calculation unit 121 obtains a total torque obtained by combining the return torque corresponding to the change amount of the pair of relative angles obtained in step S17 and the damping torque corresponding to the other angular velocity obtained in step S22.
  • Torque command values of the drivers 106B, 106D, and 106F are output to the other drive units 123B, 123D, and 123F (step S18 ′). As a result, a total torque is generated in the other driver 106B, 106D, 106F.
  • the controller device 100 assumes the reference posture, and the movement of the other first arm portions 14B, 14D, 14F, etc. at that time becomes smooth.
  • the operating device 100 has a posture in which the movable portion 11 is located at the origin and the angles of the first arm portions 14A to 14F with respect to the base portion 101 are the reference angle.
  • the standard posture was adopted.
  • the reference posture of the controller device 100 may be arbitrarily set by an operator or the like. Further, the reference posture of the controller device 100 may be changeable. Thereby, the position of the movable portion 11 in the set reference posture is set as the origin, the angles of the first arm portions 14A to 14F with respect to the base portion 101 are set as the reference angle, and one of the first positions in the set reference posture is set.
  • the positional relationship between the arm portions 14A, 14C, and 14E and the other first arm portions 14B, 14D, and 14F is set to a fixed positional relationship.
  • the operator operates the operation device 100 to change the posture of the operation device 100 from the initial reference posture.
  • the robot 200 remotely operated by the operation device 100 changes the arm to a predetermined angle in accordance with the change in posture.
  • the operator sets the posture of the controller device 100 at that time as a new reference posture.
  • the position of the movable part 11 in this reference posture is determined at the origin, the angle of one first arm part 14A, 14C, 14E with respect to the base part 101 is determined as a reference angle, and the first arm part 14A, 14C, 14E and the other
  • the first arm portions 14B, 14D, and 14F have a fixed positional relationship.
  • a return torque that returns to the newly set reference angle is applied to one of the first arm portions 14A, 14C, and 14E. Then, following torque that causes one of the first arm portions 14A, 14C, and 14E to follow is applied to the other first arm portion 14B, 14D, and 14F so as to have a newly set fixed positional relationship. Therefore, when the operator finely adjusts the arm angle of the robot 200 from the newly set reference posture, a return torque for returning to the reference posture is applied to the first arm portions 14A to 14F. The operator can easily grasp the positional relationship of the arm from the newly set reference posture and operate the operation device 100.
  • the operating device 100 according to the third embodiment will be described with reference to FIG.
  • the second arm portions 15A to 15F are rotatably connected to the first arm portions 14A to 14F via the second joints 108A to 108F.
  • the second arm portions 15A to 15F are connected to the first arm portions 14A to 14F via the direct acting joints 118A to 118F so as to be directly movable.
  • the upper end portions (tip portions) of the second arm portions 15A to 15F are rotatably connected to the lower surface of the movable portion 11 of the operation unit 102 via a first joint (not shown). ing.
  • the second arm portions 15A to 15F are connected at their lower end portions (base end portions) to the upper end portions (front end portions) of the first arm portions 14A to 14F via the direct acting joints 118A to 118F so as to be directly movable. Has been.
  • the lower end portions (base end portions) of the first arm portions 14A to 14F are rotatably connected to the base portion 101 via the third joints 109A to 109F.
  • the third joints 109A to 109F may be various joints such as a universal joint or a ball joint.
  • the third joints 109A to 109F are provided with angle sensors 114A to 114F (FIG. 11) for detecting the rotation angles of the first arm portions 14A to 14F.
  • a rotary encoder, a potentiometer, a laser sensor, or the like is used as the angle sensors 114A to 114F.
  • the proximal end portion of the first arm portion 14A and the proximal end portion of the first arm portion 14B are fixed to the base portion 101 adjacent to each other, and the distal end of the second arm portion 15A Is fixed to the movable portion 11 adjacent to the tip of the second arm portion 15F of another pair, and the tip of the second arm portion 15B is adjacent to the tip of the second arm portion 15C of another pair. It is fixed to the movable part 11.
  • the base end portion of the first arm portion 14C and the base end portion of the first arm portion 14D are fixed to the base portion 101 adjacent to each other, and the tip end of the second arm portion 15C
  • the portion is fixed to the movable portion 11 adjacent to the tip of the second arm portion 15B of another pair, and the tip of the second arm portion 15D is adjacent to the tip of the second arm portion 15E of another pair. It is fixed to the movable part 11.
  • the base end portion of the first arm portion 14E and the base end portion of the first arm portion 14F are adjacently fixed to the base portion 101, and the tip end of the second arm portion 15E The portion is fixed to the movable portion 11 adjacent to the tip of the second arm portion 15D of another pair, and the tip of the second arm portion 15F is adjacent to the tip of the second arm portion 15A of another pair. It is fixed to the movable part 11.
  • the linear motion joints 118A to 118F are provided with drivers 116A to 116F (FIG. 11) such as linear motion actuators.
  • the drivers 116A to 116F cause the second arm portions 15A to 15F to move linearly with respect to the first arm portions 14A to 14F, or the first arm portions 14A to 14F to move with respect to the second arm portions 15A to 15F. Since it moves linearly, the link portions 103A to 103F having the first arm portions 14A to 14F and the second arm portions 15A to 15F expand and contract. As a result, the first arm portions 14A to 14F rotate from the reference angle with respect to the base portion 101, and the movable portion 11 connected to the link portions 103A to 103F is displaced from the origin.
  • Rotation angles of the first arm portions 14A to 14F with respect to the base portion 101 are detected by the angle sensors 114A to 114F.
  • the angle sensors 114A to 114F detect the rotation angles of the first arm portions 14A to 14F or the rotation angles of the third joints 109A to 109F, and the detected angles of the first arm portions 14A to 14F with respect to the base portion 101 are detected.
  • a rotation angle is required. Since the movable part 11 is displaced by the rotation of the first arm parts 14A to 14F, the angle sensors 114A to 114F are position sensors that detect the position of the movable part 11 displaced by the link parts 103A to 103F to be driven. Also works.
  • the operating device 100 according to the third embodiment can be operated according to the angular flowcharts shown in FIGS. 6, 7, 8, and 9.
  • the position of the movable part 11 is detected based on the detection results of the angle sensors 114A to 114F, but the detection of the position of the movable part 11 is not limited to this.
  • an expansion / contraction sensor that detects expansion / contraction of the link portions 103A to 103F may be used instead of the angle sensors 114A to 114F.
  • the expansion / contraction sensor is provided in the linear motion joints 118A to 118F and the like, and the link portions 103A to 103F are expanded and contracted by the relative movement of the first arm portions 14A to 14F and the second arm portions 15A to 15F. Detect. Since the movable parts 11 connected to the link parts 103A to 103F move when the link parts 103A to 103F expand and contract, the position of the movable part 11 can be detected based on the detection result of the expansion sensor. In this case, the drivers 116A to 116F are driven so that torque that returns the position of the movable portion 11 to the origin is applied to at least one of the pair of link portions 103A to 103F.
  • the operating device and the driving method of the present invention are useful in the field of industrial robots because they can be maintained in a standard posture more easily than in the past.
  • First arm portions 15A to 15F Second arm portion 100: Operating device 101: Base portion 102: Operating portion 103: Parallel link mechanisms 103A to 103F: Link portions 104A to 104F: Angle sensors (position sensors) 114A to 114F: Telescopic sensor (position sensor) 106A to 106F: Drivers 116A to 116F: Driver 120: Controller

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Mechanical Control Devices (AREA)

Abstract

L'invention concerne un dispositif d'actionnement (100) comportant une unité de base (101), une unité d'actionnement (102) présentant une partie mobile (11) et une partie saisie (12), un mécanisme de liaison parallèle (103) dans lequel sont disposées deux unités de liaison (103A-103F) présentant une première unité de bras (14A-14F) et une seconde unité de bras (15A-15F), des éléments d'entraînement (106A-106F) destinés à entraîner les unités de liaison, un capteur de position destiné à détecter la position de l'unité mobile et un dispositif de commande (120). L'extrémité de base de la première unité de bras est reliée rotative à l'unité de base, l'extrémité de base de la seconde unité de bras est reliée à la première unité de bras de façon à pouvoir effectuer un mouvement rotatif ou linéaire, et l'extrémité distale de la seconde unité de bras est reliée rotative à la partie mobile ; le dispositif de commande est conçu pour entraîner les éléments d'entraînement de façon à appliquer, à au moins l'une des deux unités de liaison, une force d'entraînement destinée à ramener l'unité mobile à la position d'origine.
PCT/JP2018/018805 2017-05-19 2018-05-15 Dispositif d'actionnement et son procédé de fonctionnement WO2018212199A1 (fr)

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JP2017-100372 2017-05-19
JP2017100372A JP2018195214A (ja) 2017-05-19 2017-05-19 操作装置及びその運転方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024002081A1 (fr) * 2022-06-29 2024-01-04 诺创智能医疗科技(杭州)有限公司 Console et robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
JP2000148382A (ja) * 1998-11-11 2000-05-26 Mitsubishi Precision Co Ltd ６軸のフォースフィードバックを有する力覚インタフェース装置
JP2010146307A (ja) * 2008-12-19 2010-07-01 Nagoya Institute Of Technology 多自由度の力覚提示マニピュレータ
WO2012103648A1 (fr) * 2011-02-01 2012-08-09 Leslie Ryan David Dispositif haptique
JP2014048878A (ja) * 2012-08-31 2014-03-17 Aisin Ai Co Ltd アクチュエータ及びこのアクチュエータを備える操作感覚シミュレータ
JP2015052903A (ja) * 2013-09-06 2015-03-19 株式会社神戸製鋼所 力覚付与型操作装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
JP2000148382A (ja) * 1998-11-11 2000-05-26 Mitsubishi Precision Co Ltd ６軸のフォースフィードバックを有する力覚インタフェース装置
JP2010146307A (ja) * 2008-12-19 2010-07-01 Nagoya Institute Of Technology 多自由度の力覚提示マニピュレータ
WO2012103648A1 (fr) * 2011-02-01 2012-08-09 Leslie Ryan David Dispositif haptique
JP2014048878A (ja) * 2012-08-31 2014-03-17 Aisin Ai Co Ltd アクチュエータ及びこのアクチュエータを備える操作感覚シミュレータ
JP2015052903A (ja) * 2013-09-06 2015-03-19 株式会社神戸製鋼所 力覚付与型操作装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024002081A1 (fr) * 2022-06-29 2024-01-04 诺创智能医疗科技(杭州)有限公司 Console et robot

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