WO2022054948A1 - Dispositif robot et son procédé de commande - Google Patents

Dispositif robot et son procédé de commande Download PDF

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Publication number
WO2022054948A1
WO2022054948A1 PCT/JP2021/033572 JP2021033572W WO2022054948A1 WO 2022054948 A1 WO2022054948 A1 WO 2022054948A1 JP 2021033572 W JP2021033572 W JP 2021033572W WO 2022054948 A1 WO2022054948 A1 WO 2022054948A1
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WIPO (PCT)
Prior art keywords
target
pressure
setting unit
artificial muscle
contraction
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PCT/JP2021/033572
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English (en)
Japanese (ja)
Inventor
哲央 梅村
雅広 浅井
亮 ▲高▼田
仁嗣 辰野
Original Assignee
株式会社アイシン
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Application filed by 株式会社アイシン filed Critical 株式会社アイシン
Priority to JP2022548376A priority Critical patent/JP7380897B2/ja
Publication of WO2022054948A1 publication Critical patent/WO2022054948A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the present disclosure relates to a robot device including an artificial muscle that operates by receiving a liquid supply and a liquid supply device that supplies the liquid to the artificial muscle, and a control method thereof.
  • Each elastic expansion / contraction structure of the elastic actuator drive mechanism includes a hollow tubular elastic body made of a rubber material and a mesh-like deformation direction regulating member covering the outer surface of the tubular elastic body.
  • Both ends of the tubular elastic body are hermetically sealed by a sealing member, and a compressible fluid such as air is supplied to the inside of the tubular elastic body via a tubular fluid passing member provided in the sealing member on one end side.
  • a compressible fluid such as air
  • the tubular elastic body tends to expand mainly in the radial direction when the compressible fluid is supplied to the inside, but the deformation direction motion of the tubular elastic body is converted into the axial motion by the action of the deformation direction regulating member. Ru.
  • the elastic expansion / contraction structure can be used as a linear actuator by contracting the tubular elastic body by supplying a compressible fluid. Further, by rotating the first and second joint axes in the forward and reverse directions by the antagonistic drive of the pair of elastic expansion / contraction structures corresponding to each, it is possible to move the hand for grasping the object.
  • the angle error vector which is the difference between the target joint angle vector set according to the operation program created in advance and the current value (joint angle vector) of the joint angle measured by the encoder.
  • the angle error correction command value is calculated.
  • the target angular acceleration is calculated from the target joint angle vector
  • the corrected target angular acceleration is calculated from the target angular acceleration and the angle error vector. It also includes a gravity term on the mass of the carrier and elastic actuator drive mechanism from the modified target angular acceleration and dynamics parameters such as the mass, center of gravity, or inertial matrix of each link or carrier of the elastic actuator drive mechanism.
  • the target joint torque is calculated.
  • the target pressure value of the elastic expansion / contraction structure is calculated for each joint axis from the target joint torque and the joint angle vector, and the elastic expansion / contraction structure (tubular) measured by the target pressure value and the pressure sensor.
  • the pressure error which is the difference from the internal pressure (compression rate of air) of the elastic body), is calculated.
  • the pressure difference error correction output is calculated from the pressure error, and the pressure difference error correction output is given to each of the three port flow control solenoid valves as a voltage command value.
  • each joint axis is independently rotationally driven by the corresponding pair of elastic expansion / contraction structures.
  • the flow rate control solenoid valve is controlled based on the internal pressure of the tubular elastic body detected by the pressure sensor as described above, it takes time for the internal pressure of the tubular elastic body to reach the required value, and elastic expansion and contraction occurs. It becomes difficult to operate the structure responsively. Further, when the control gain is increased in order to improve the responsiveness of the internal pressure change, vibration occurs in the internal pressure of the tubular elastic body, which causes overshoot or undershoot. Further, since it is not easy to accurately measure the internal pressure of the tubular elastic body, that is, the air pressure by the pressure sensor, the elastic expansion / contraction structure is controlled with high accuracy based on the target pressure value and the internal pressure of the tubular elastic body. That is difficult. In addition, when an abnormality occurs in the pressure sensor, it becomes substantially impossible to operate the elastic actuator drive mechanism.
  • the main object of the present disclosure is to provide a robot device capable of responsively and highly accurately operating an artificial muscle that operates by receiving a liquid supply, and a control method thereof.
  • the robot device of the present disclosure is a robot device including at least one artificial muscle that operates by receiving a liquid supply and a liquid supply device that supplies the liquid to the artificial muscle, and is for driving the robot device. It includes a control device that sets the target driving force of the above, sets the target pressure of the liquid supplied to the artificial muscle based on the target driving force, and controls the liquid supply device based on the target pressure. ..
  • the robot device of the present disclosure includes at least one artificial muscle that operates by receiving a liquid supply, a liquid supply device that supplies the liquid to the artificial muscle, and a control device that controls the liquid supply device. Then, the control device sets a target driving force for driving the robot device, sets a target pressure of the liquid to be supplied to the artificial muscle based on the target driving force, and supplies the liquid based on the target pressure. Control the device. In this way, by controlling the pressure of the liquid supplied to the artificial muscle based on the target driving force, the artificial muscle can be responsive to the demand and highly accurate without using a sensor that detects the pressure of the liquid. It becomes possible to operate.
  • the control method of the robot device of the present disclosure is a control method of a robot device including at least one artificial muscle that operates by receiving a liquid supply and a liquid supply device that supplies the liquid to the artificial muscle.
  • a target driving force for driving the robot device is set, a target pressure of the liquid supplied to the artificial muscle is set based on the target driving force, and the liquid supply device is controlled based on the target pressure. It is a thing.
  • FIG. 1 is a schematic configuration diagram showing a robot device of the present disclosure.
  • FIG. 2 is an enlarged view showing the robot device of the present disclosure.
  • FIG. 3 is a schematic configuration diagram showing a liquid supply device of the robot device of the present disclosure.
  • FIG. 4 is a block diagram showing a control device of the robot device of the present disclosure.
  • FIG. 5 is a flowchart illustrating the control procedure of the robot device of the present disclosure.
  • FIG. 6 is a flowchart illustrating the control procedure of the robot device of the present disclosure.
  • FIG. 7 is a flowchart illustrating the control procedure of the robot device of the present disclosure.
  • FIG. 8 is a flowchart illustrating the control procedure of the robot device of the present disclosure.
  • FIG. 9 is an explanatory diagram illustrating a target pressure setting map.
  • FIG. 10 is a time chart illustrating the operating state of the robot device of the present disclosure.
  • FIG. 11 is a block diagram showing another control device applicable to the robot device of the present disclosure.
  • FIG. 12 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 13 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 14 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 15 is a block diagram showing still another control device applicable to the robotic device of the present disclosure.
  • FIG. 16 is a flowchart illustrating a control procedure of the robot device by the control device of FIG. FIG.
  • FIG. 17 is a block diagram showing another control device applicable to the robot device of the present disclosure.
  • FIG. 18 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 19 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 20 is an explanatory diagram illustrating the first and second target pressure setting maps.
  • FIG. 21 is a flowchart illustrating a control procedure of the robot device by the control device of FIG.
  • FIG. 22 is an explanatory diagram illustrating the volume estimation map.
  • FIG. 23 is an explanatory diagram illustrating a current command value setting map.
  • FIG. 1 is a schematic configuration diagram showing the robot device 1 of the present disclosure
  • FIG. 2 is an enlarged view showing the robot device 1.
  • the robot device 1 shown in these drawings includes a robot arm (robot body) 2, a liquid supply device 10, and a control device 100 that controls the entire device.
  • the robot arm 2 includes a plurality of (three in this embodiment) joints (pin joints) J1, J2, J3, a plurality of (three in this embodiment) arms (links) 3, and joints J1,
  • a plurality of hydraulic actuators (fluid actuators) M as artificial muscles provided for each of J2 and J3, for example, an even number (four in this embodiment), and a grip portion attached to the hand of the arm 3 on the tip side.
  • the hand unit 4 is controlled by the control device 100 so as to grip the target object (hereinafter, referred to as “grasping target”). Further, the liquid supply device 10 is controlled by the control device 100 to supply and discharge hydraulic oil (working fluid) as a liquid to each hydraulic actuator M. As a result, the robot arm 2 can be driven hydraulically (hydraulic pressure) to move the hand portion 4 to a desired position.
  • each hydraulic actuator M of the robot arm 2 is a so-called Macchiben type artificial muscle including a tube T that expands and contracts by the pressure of hydraulic oil and a braided sleeve S that covers the tube T. be.
  • the tube T is formed in a cylindrical shape by an elastic material such as a rubber material having high oil resistance, and both ends of the tube T are sealed by a sealing member C.
  • a hydraulic oil inlet / outlet IO is formed on the sealing member C on the base end side (liquid supply device 10 side, lower end side in FIG. 2) of the tube T.
  • the braided sleeve S is formed in a cylindrical shape by knitting a plurality of cords oriented in a predetermined direction so as to intersect each other, and is retractable in the axial direction and the radial direction.
  • a fiber cord, a high-strength fiber, a metal cord composed of ultrafine filaments, or the like can be adopted.
  • the arm 3 on the most proximal end side (most liquid supply device 10 side) is rotatable by the support member 5 as a link via the joint J1. Be supported. Further, the two arms 3 are rotatably connected to each other via the joint J2 or J3. Further, the connecting member 6 is fixed to the tip ends (ends on the hand side) of the two arms 3 on the liquid supply device 10 side. As shown in the figure, the support member 5 rotatably supports the sealing member C on the proximal end side of the plurality (four) hydraulic actuators M corresponding to the joint J1 on the distal end side.
  • each connecting member 6 rotatably supports the sealing member C on the tip end side (hand side) of the plurality (four) hydraulic actuators M corresponding to the joints J1 or J2 located on the proximal end side. .. Further, each connecting member 6 rotatably supports the sealing member C on the proximal end side of the plurality (four) hydraulic actuators M corresponding to the joints J2 or J3 located on the distal end side.
  • the support member 5 rotatably supports the sealing member C on the proximal end side of the two hydraulic actuators M corresponding to the joint J1 via the first connecting shaft.
  • the connecting member 6 of the arm 3 on the most proximal end side rotatably supports the sealing member C on the tip end side of the two hydraulic actuators M corresponding to the joint J1 via the second connecting shaft. ..
  • the support member 5 can rotate the sealing member C on the proximal end side of the remaining two hydraulic actuators M corresponding to the joint J1 via the third connecting shaft extending in parallel with the first connecting shaft. Support.
  • the connecting member 6 of the arm 3 on the most proximal end side extends the sealing member C on the tip end side of the remaining two hydraulic actuators M corresponding to the joint J1 in parallel with the second connecting shaft. It is rotatably supported via a connecting shaft.
  • the connecting member 6 of the two arms 3 connected to each other via the joint J2 or J3 also has a plurality (four) corresponding to the joint J2 or J3 via the plurality of connecting shafts as described above.
  • the corresponding sealing member C of the hydraulic actuator M is rotatably supported.
  • two hydraulic actuators M are arranged in parallel with the corresponding arms 3 in the present embodiment on both sides of each arm 3 extending from the joint axis of the joints J1-J3 to the hand side (hand portion 4 side).
  • the two hydraulic actuators M arranged on one side of each arm 3 constitute one side artificial muscle (one antagonist muscle) AM1 (see FIG. 3) corresponding to one joint J1, J2 or J3.
  • the two hydraulic actuators M arranged on the other side of each arm 3 are the artificial muscles on the other side corresponding to one joint J1, J2 or J3 paired with the artificial muscle AM1 on the one side (the other).
  • Antagonist muscle constitutes AM2 (see FIG. 3).
  • the artificial muscles AM1 and AM2 on one side and the other side may each be configured by a single hydraulic actuator M, and the number of hydraulic actuators M constituting the artificial muscle AM1 on one side and the other side
  • the number of hydraulic actuators M constituting the artificial muscle AM2 may be different.
  • the plurality (four) hydraulic actuators M provided for one joint J1, J2 or J3 have the same specifications.
  • the specifications of the plurality of hydraulic actuators M corresponding to one joint J1, J2 or J3 do not necessarily have to be the same.
  • the specifications of the hydraulic actuator M constituting the artificial muscle AM2 on the other side may be different.
  • each arm 3 is formed to be hollow, and a plurality of hoses H (see the broken line in FIG. 2) as a liquid supply pipe are arranged inside each arm 3.
  • Each hose H is connected to an inlet / outlet IO formed in a sealing member C on the base end side of the corresponding hydraulic actuator M, and a liquid supply device is provided in the tube T of each hydraulic actuator M via the hose H.
  • the hydraulic oil (hydraulic pressure) from 10 is supplied.
  • the hydraulic pressure in the tube T of the two hydraulic actuators M constituting the artificial muscle AM1 on one side is paired with the artificial muscle AM1 on one side.
  • the hydraulic pressure in the tube T of the two hydraulic actuators M constituting the artificial muscle AM2 on the side can be made different from each other.
  • the force (rotational torque) is transmitted from the four hydraulic actuators M, that is, the pair of artificial muscles AM1 and AM2 on one side and the other side to each arm 3 via the connecting member 6, and supported. It is possible to change the joint angle of the joints J1-J3 by rotating each arm 3 with respect to the member 5 or the arm 3 on the proximal end side.
  • the two hydraulic actuators M constituting the artificial muscle AM1 on one side and the two hydraulic actuators M constituting the artificial muscle AM2 on the other side paired with the artificial muscle AM1 on one side are
  • the tube T is antagonistically driven by hydraulic pressure from the liquid supply device 10 with a state in which the tube T contracts in the axial direction by a predetermined amount (for example, about 10% of the natural length) as an initial state.
  • the liquid supply device 10 of the robot device 1 has a tank 11 that defines a hydraulic oil storage section (liquid storage section) and a rotating shaft that extends the tank 11 in the vertical direction (one point in FIG. 1). Includes a base portion 12 that rotatably supports around the chain wire).
  • the tank 11 is, for example, a cylinder whose upper end and lower end are closed, and can store hydraulic oil inside.
  • the support member 5 of the robot arm 2 is fixed to the upper wall portion 11u of the tank 11 via a bolt or the like (not shown). That is, the robot arm 2 is supported by the tank 11 (upper wall portion 11u) of the liquid supply device 10.
  • the base portion 12 is fixed to the installation location of the robot device 1 so as to be located below the robot arm 2 and the tank 11, or is mounted (fixed) on an automatic guided vehicle (AGV or AMR) (not shown). Further, the base portion 12 supports a rotation unit (not shown) that rotates the tank 11 around the rotation shaft. As a result, by operating the rotation unit, the robot arm 2 and the tank 11 can be integrally rotated around the rotation shaft.
  • the rotating unit may be a swing motor driven by hydraulic pressure supplied from the liquid supply device 10, or may include an electric motor or the like.
  • the liquid supply device 10 includes a pump 13 as a liquid supply source, a valve body (not shown) arranged in the tank 11, and a main pressure generation, in addition to the tank 11 and the base portion 12.
  • the pump 13, the first and second linear solenoid valves 151, 152 and the first and second supply isolation valves 161, 162 are all controlled by the control device 100.
  • the first and second linear solenoid valves 151 and 152 and the first and second supply cutoff valves 161, 162 are provided one by one for each of the joints J1, J2 and J3.
  • the pump 13 is, for example, an electric pump, which sucks the hydraulic oil stored in the tank 11 and discharges it from the discharge port.
  • the pump 13 includes a pump unit arranged in the tank 11 and a drive unit having an electric motor and a reduction gear mechanism and arranged in the tank 11 or outside the tank 11.
  • the main pressure generation valve 14 drains (adjusts) a part of the hydraulic oil discharged from the pump 13 in response to a signal pressure from a signal pressure generation valve (not shown) to generate the main pressure, and the main pressure is generated in the valve body. It is supplied to the oil passage (liquid passage) L0 formed in.
  • the signal pressure generation valve of the main pressure generation valve 14 for example, a linear solenoid valve whose energization is controlled by the control device 100 is used.
  • the first and second linear solenoid valves 151 and 152 include a solenoid portion 15e and a spool 15s whose energization is controlled by the control device 100, a spring SP for urging the spool 15s to the solenoid portion 15e side (upper side in FIG. 3), and the like. , Placed inside the valve body. Further, the first and second linear solenoid valves 151 and 152 have an input port 15i communicating with the oil passage L0 of the valve body, an output port 15o communicating with the input port 15i, and a feedback port 15f communicating with the output port 15o. And a drain port 15d that can communicate with the output port 15o.
  • the first and second linear solenoid valves 151 and 152 are normally closed valves that open when a current is supplied to the solenoid portion 15e, and each solenoid portion 15e responds to the applied current.
  • the spool 15s is moved in the axial direction.
  • the thrust applied to the spool 15s from the solenoid portion 15e by supplying power to the solenoid portion 15e (coil), the urging force of the spring SP, and the hydraulic pressure supplied from the output port 15o to the feedback port 15f to the spool 15s.
  • the hydraulic oil supplied from the main pressure generation valve 14 (pump 13) side to the input port 15i and flowing out from the output port 15o is regulated to a desired pressure. Can be done. Further, as shown in FIG. 3, the drain ports 15d of the first and second linear solenoid valves 151 and 152 communicate with the hydraulic oil storage portion in the tank 11 via the oil passage L3, respectively.
  • the first and second supply cutoff valves 161, 162 are solenoid spool valves (solenoid valves) having the same structure as each other, and as shown in FIG. 3, the input port 16i, the first and second output ports 16oa, A sleeve having 16 obs, a spool (not shown) slidably (movably) arranged in the sleeve in the axial direction, an electromagnetic unit 16e controlled by the control device 100 to move the spool, and a spool electromagnetically. Each includes a spring (not shown) for urging the portion 16e side.
  • the input port 16i of the first supply cutoff valve 161 is connected to the output port 15o of the first linear solenoid valve 151 via an oil passage formed in the valve body, and the input port 16i of the second supply cutoff valve 162 is a valve. It is connected to the output port 15o of the second linear solenoid valve 152 via an oil passage formed in the body.
  • first output port 16oa of the first supply isolation valve 161 is an inlet / outlet IO for hydraulic oil of one hydraulic actuator M (tube T) constituting the corresponding artificial muscle AM1 on one side via the oil passage L11.
  • second output port 16ob of the first supply isolation valve 161 is connected to the hydraulic oil inlet / outlet IO of the other hydraulic actuator M (tube T) constituting the artificial muscle AM1 on one side via the oil passage L12. Will be done.
  • first output port 16oa of the second supply cutoff valve 162 is an inlet / outlet IO for hydraulic oil of one hydraulic actuator M (tube T) constituting the corresponding artificial muscle AM2 on the other side via the oil passage L21. Connected to.
  • the second output port 16ob of the second supply cutoff valve 162 is connected to the inlet / outlet IO of the hydraulic oil of the other hydraulic actuator M (tube T) constituting the artificial muscle AM2 on the other side via the oil passage L22. Will be done.
  • the first and second supply cutoff valves 161, 162 are in a complete communication state, a first partial communication state, a second partial communication state, and a complete cutoff state according to the current supplied to the electromagnetic unit 16e. Form selectively.
  • the first and second supply cutoff valves 161, 162 form a perfect communication state, both the input port 16i and the first and second output ports 16oa and 16ob communicate with each other.
  • the first and second supply cutoff valves 161, 162 form the first partial communication state, the input port 16i and the second output port 16ob communicate with each other, and the input port 16i and the first output port 16oa communicate with each other. Is blocked.
  • the input port 16i and the first output port 16oa communicate with each other, and the input port 16i and the second output port 16ob communicate with each other. Is blocked.
  • the first and second supply cutoff valves 161, 162 form a complete cutoff state, the communication between the input port 16i and the first and second output ports 16oa and 16ob is cut off.
  • the control device 100 of the robot device 1 includes a microcomputer including a CPU, ROM, RAM, an input / output interface, and various logic ICs (all of which are not shown).
  • the control device 100 includes a main pressure sensor (not shown) that detects the pressure of the hydraulic oil in the oil passage L0 on the upstream side of the first and second linear solenoid valves 151 and 152, the first and second linear solenoid valves 151 and 152, and the first. 1.
  • Input the detection value of a voltage sensor (not shown) that detects the voltage of the power supply of the second supply cutoff valves 161, 162.
  • the control device 100 controls the duty of the pump 13 so that the hydraulic pressure in the oil passage L0 detected by the main pressure sensor becomes a target value, and is supplied to the electromagnetic part of the signal pressure generation valve of the main pressure generation valve 14. Control the current.
  • control device 100 has a current from the first and second linear solenoid valves 151 and 152 to the first and second linear solenoid valves 151 and 152 so that the hydraulic pressure corresponding to the request is supplied to each hydraulic actuator M.
  • a command value is set, and the current supplied to each solenoid unit 15e is controlled based on the current command value.
  • the control device 100 basically supplies a current to each solenoid unit 16e so that the first and second supply isolation valves 161, 162 form the above-mentioned complete communication state while the robot device 1 is operated. To control.
  • control device 100 includes a current detecting unit that detects a current flowing through the solenoid portion 15e of the first linear solenoid valve 151 and a current detecting unit that detects a current flowing through the solenoid portion 15e of the second linear solenoid valve 152. (Neither is shown), the current detected by each current detector is monitored.
  • control device 100 first and second so as to form the first partial communication state or the second partial communication state according to the detection value from the pressure sensor (not shown) that detects the hydraulic pressure in each hydraulic actuator M. Controls the applicable supply shutoff valves 161, 162. As a result, when hydraulic oil flows out from one of the two hydraulic actuators M corresponding to any of the first and second linear solenoid valves 151 and 152 due to damage or the like, the other of the two hydraulic actuators M is affected. It is possible to continuously supply the hydraulic oil to suppress the disturbance of the behavior of the robot arm 2 and to satisfactorily suppress the further outflow of the hydraulic oil from the damaged hydraulic actuator M.
  • the first or second linear solenoid valves 151, 152 correspond to the corresponding ones. It is possible to cut off the supply of hydraulic oil to the two hydraulic actuators M, or to regulate the outflow of hydraulic oil from the two hydraulic actuators M to suppress the occurrence of unintended operation of the robot arm 2. can.
  • FIG. 4 is a block diagram showing a control unit of the first and second linear solenoid valves 151 and 152 in the above-mentioned control device 100.
  • the control device 100 is a target position setting unit constructed by at least one of hardware such as a CPU, ROM, and RAM of a computer and software such as a control program installed in the computer.
  • 101 current position derivation unit 102, target torque setting unit 105 including torque calculation unit 103 and gravity compensation unit 104, target rigidity setting unit 106, contraction rate setting unit 107, contraction force calculation unit 108, and target pressure derivation.
  • a target pressure setting unit 110 including a unit 109, a current command value setting unit 111, and a valve drive unit 112 are included.
  • the target position setting unit 101 is a target that is the final target position of the hand unit 4 based on the position of the gripping target of the hand unit 4 and the target speed and target acceleration of the hand unit 4 during movement given by the user.
  • the arrival position (three-dimensional coordinates) and the trajectory from the initial position of the hand unit 4 to the target arrival position and including a plurality of target positions, that is, transit positions (three-dimensional coordinates) are set.
  • the current position derivation unit 102 is a hand unit 4 based on the joint angles ⁇ 1, ⁇ 2, ⁇ 3 of the joints J1-J3 of the robot arm 2 and the specifications (dimensions, etc. of the arm 3) of the robot arm 2 (robot device 1).
  • the current position (three-dimensional coordinates) of (predetermined reference point) is derived.
  • the joint angles ⁇ 1- ⁇ 3 of the joints J1-J3 are detected by any of the corresponding joint angle sensors 7 provided on the robot arm 2.
  • the torque calculation unit 103 of the target torque setting unit 105 has two arms 3 (arm 3 and a support) connected via the joint Ji so that the hand unit 4 moves from the current position to the target position for each joint J1-J3.
  • the joint torque Tj (i) that relatively rotates the member 5) is calculated.
  • the gravity compensating unit 104 of the target torque setting unit 105 determines the robot arm 2 for each joint J1-J3 based on the joint angle ⁇ 1- ⁇ 3 and the specifications of the robot arm 2 (robot device 1) (dimensions of the arm 3, etc.).
  • the gravity compensation torque Tc (i) required to maintain the posture of is calculated.
  • the target torque setting unit 105 is for relatively rotating the sum of the joint torque Tj (i) and the gravity compensation torque Tc (i) so that the two arms 3 and the like connected via the joint Ji are relatively rotated.
  • the target torque Ttag (i) which is the target value (target driving force) of the joint torque Tj (i), is set.
  • the target rigidity setting unit 106 has the rigidity that the joint Ji should have for each joint J1-J3, that is, two arms 3 connected via the joint Ji, etc., at least based on the target position of the robot device 1, that is, the hand unit 4. It is a force (torque) required to rotate (link) relatively by a unit angle, and makes it difficult for the joint Ji to move with respect to an external force that tries to relatively rotate the two arms 3 and the like.
  • the indicated target stiffness R (i) is set. More specifically, when the target rigidity setting unit 106 moves the hand unit 4 or the like to the gripping object or the like, the target rigidity R (i) is changed according to the positional relationship between the hand unit 4 or the like and the gripping object or the like.
  • the target rigidity R (i) is lowered before the hand portion 4 or the like comes into contact with the gripping object or the like. Further, the target rigidity setting unit 106 changes the target rigidity R (i) according to at least one of the moving speed and the acceleration of the hand unit 4, and the target rigidity R (i) is arranged around the robot device 1 (for example, the robot device 1 is arranged). When there is a person in the room or the area including the operating range of the robot arm 2 such as the inside of the fence, the target rigidity R (i) is lowered.
  • the target rigidity R (i) of each joint Ji may be set at least based on the current position of the robot device 1, that is, the hand portion 4.
  • the contraction rate setting unit 107 of the target pressure setting unit 110 is an artificial one side corresponding to the joint Ji based on the joint angle ⁇ i of the joint Ji according to the current position of the hand unit 4 for each joint J1-J3.
  • the contraction rate Cr1 (i) of the two hydraulic actuators M constituting the muscle AM1 and the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji are obtained.
  • the contraction force calculation unit 108 of the target pressure setting unit 110 has a target torque Ttag (i) set by the target torque setting unit 105 and a target rigidity R (target rigidity R) set by the target rigidity setting unit 106 for each joint J1-J3. Based on i), a plurality of (pair) hydraulic actuators corresponding to the joint Ji when the two arms 3 and the like connected via the joint Ji are relatively rotated by the target torque Ttag (i). The contraction forces Fc1 (i) and Fc2 (i) required for M are calculated.
  • the contraction force Fc1 (i) is a force to be generated by the contraction of the tubes T of the two hydraulic actuators M constituting the artificial muscle AM1 on one side corresponding to each joint Ji
  • the contraction force Fc2 (i) is It is a force to be generated by the contraction of the tube T of the two hydraulic actuators M constituting the artificial muscle AM2 on the other side corresponding to each joint Ji.
  • the target pressure derivation unit 109 of the target pressure setting unit 110 has the contraction rate Cr1 (i) and the contraction force set by the contraction rate setting unit 107 from the static characteristics of the hydraulic actuator M as an artificial muscle for each joint J1-J3.
  • the pressure corresponding to the contraction force Fc1 (i) calculated by the calculation unit 108 is derived and set to the target pressure Ptag1 (i) of the two hydraulic actuators M constituting the artificial muscle AM1 on one side.
  • the target pressure derivation unit 109 has a contraction rate Cr2 (i) set by the contraction rate setting unit 107 and a contraction force Fc2 (i) calculated by the contraction force calculation unit 108 from the static characteristics for each joint J1-J3.
  • the target pressure Ptag2 (i) of the two hydraulic actuators M constituting the artificial muscle AM2 on the other side are derived.
  • the current command value setting unit 111 sets the target pressures Ptag1 (i) and Ptag2 (i) set by the target pressure setting unit 110 to the solenoid units 15e of the first and second linear solenoid valves 151 and 152 (current command value setting unit 111). Convert directly to the target current).
  • the valve drive unit 112 sets a target voltage by feed-forward control (or feed-forward control and feedback control) so that the current detected by the above-mentioned current detection unit (not shown) matches the current command value, and sets the target voltage. Convert to PWM signal.
  • valve drive unit 112 controls switching of a switching element (transistor) (not shown) based on the PWM signal to apply a current to the solenoid units 15e of the first and second linear solenoid valves 151 and 152.
  • a switching element transistor
  • the first and second linear solenoid valves 151 and 152 are controlled to generate hydraulic pressure according to the target pressure Ptag1 (i) or Ptag2 (i).
  • control procedure of the above-mentioned robot device 1 will be described with reference to FIGS. 5 to 10.
  • control procedure of the robot device 1 will be described by taking as an example a case where the hand portion 4 of the robot device 1 is moved to the gripping target and the hand portion 4 grips and transfers the gripping target.
  • the hand of the robot arm 2 that is, the hand portion 4, and the gripping target are connected via a virtual spring and a damper, and the virtual spring and the damper are generated.
  • the tensile force Ft (f x , f y , f z ) due to the virtual spring and damper is the target position (xd (t), of the hand portion 4 (predetermined reference point).
  • the gripping target is pulled by the virtual spring and damper according to the above equation (1).
  • the position (contact position) of the gripping object (x o , yo , z o ) and the gains K px , K py , K pz can be expressed as the following equation (2).
  • the routine of FIG. 5 is executed by the target position setting unit 101 of the control device 100, and the final of the hand unit 4 is executed.
  • a target arrival position (x r , y r , z r ) and a target trajectory of the hand unit 4 from the initial position to the target arrival position (x r , y r , z r ) are set.
  • the target position setting unit 101 of the control device 100 determines the position (x o , yo , z o ) of the gripping target and the target speed of the hand unit 4 given by the user during movement.
  • the position (x o , yo , z o ) of the gripping object may be input to the control device 100 by the user of the robot device 1 if it is known in advance, and the camera may be input to the control device 100 before the operation of the robot arm 2 is started. It may be derived from the data acquired by the above.
  • the target position setting unit 101 reaches the target of the hand unit 4 in which a predetermined pressing force Fp is applied from the hand unit 4 to the gripping object after the contact between the hand unit 4 and the gripping object according to the above equation (2).
  • the position (x r , y r , z r ) is set (step S2).
  • the pressing force Fp (f px , f py , f pz ) in the equation (2) is based on the specifications such as the material, strength, and size of the gripping object, without destroying the gripping object.
  • the target position setting unit 101 is based on the target speed and target acceleration of the hand unit 4 acquired in step S1 and the target arrival position (x r , y r , z r ) set in step S2.
  • a target trajectory of the hand unit 4 including a predetermined number (plural) target positions, that is, transit positions (three-dimensional coordinates) is set (step S3), and the routine of FIG. 5 is terminated.
  • the target arrival position and the target trajectory are set according to the transfer destination (the mounting surface of the grip target) of the grip target.
  • the routine of FIG. 5 is executed again by the target position setting unit 101.
  • the target position setting unit 101 is placed on the mounting surface (target) from the hand unit 4 via the gripping target after the contact between the gripping target (hand) gripped by the hand unit 4 and the mounting surface (target).
  • the target arrival position (x r , y r , z r ) of the hand unit 4 to which the predetermined pressing force Fp is applied is set.
  • FIG. 6 is a flowchart illustrating a robot arm control routine executed by the control device 100 after the target arrival position and the target trajectory are set. After the routine of FIG. 5 is completed, the routine of FIG. 6 is repeatedly executed by the control device 100 at predetermined time (for example, about 10 ms) in response to an execution instruction by the user.
  • predetermined time for example, about 10 ms
  • the torque calculation unit 103 (target torque setting unit 105) and the target rigidity setting unit 106 of the control device 100 each acquire the target position set by the target position setting unit 101 (step S10). ..
  • the target position acquired in step S10 is the first target position in the target trajectory or the target position acquired at the time of the previous execution of the routine of FIG.
  • the current position derivation unit 102 and the gravity compensation unit 104 of the control device 100 acquire the joint angles ⁇ 1- ⁇ 3 of the joints J1-J3 acquired by the plurality of joint angle sensors 7 (step S20).
  • the current position deriving unit 102 derives the current position (three-dimensional coordinates) of the hand unit 4 based on the acquired joint angle ⁇ 1- ⁇ 3 and the specifications of the robot arm 2 (robot device 1) (step S30). The derived current position is given to the torque calculation unit 103.
  • the torque calculation unit 103 (target torque setting unit 105) of the control device 100 determines whether or not the current position of the hand unit 4 has changed from the previous position (whether or not the hand unit 4 has moved) (step). S40). When the torque calculation unit 103 determines that the current position of the hand unit 4 has changed from the previous position (step S40: YES), it further determines whether or not the current position substantially matches the target position. Determination (step S50). When it is determined that the current position substantially matches the target position (step S50: YES), the torque calculation unit 103 acquires the target position next to the target position acquired in step S10 (step S60). ..
  • the next target position is also given to the target rigidity setting unit 106, and the target rigidity setting unit 106 sets the target rigidity R (i) of each joint Ji based on the acquired target position and the like. Further, if the current position of the hand unit 4 does not substantially match the target position, the process of step S60 is skipped.
  • FIG. 7 is a flowchart illustrating a procedure for setting the target torque Ttag (i) by the target torque setting unit 105 in step S70.
  • the torque calculation unit 103 of the target torque setting unit 105 first sets the above-mentioned gains K px , K py and K pz based on the target position of the hand unit 4 acquired in step S10. (Step S700).
  • step S700 the torque calculation unit 103 has gains K px , K py and K pz until the target position acquired in step S10 reaches a predetermined target position (for example, a position where the hand unit 4 starts decelerating). After each is set to a predetermined normal value and the target position acquired in step S10 becomes the predetermined target position, each of the gains K px , K py and K pz is smaller than the above normal value. Set to a value.
  • the torque calculation unit 103 describes the above-mentioned virtual from the above equation (1) based on the target position of the hand unit 4 acquired in step S10 and the current position of the hand unit 4 acquired in step S30.
  • the movement of the robot arm 2 (each joint Ji) can be made smoother.
  • the torque calculation unit 103 acquires a separately set human feeling flag (step S720), and determines whether or not the human feeling flag is turned off (step S730).
  • the human sensor is turned on or off by the control device 100 based on a signal from at least one motion sensor 8 (see FIG. 1) arranged at the installation location of the robot device 1 or an automatic guided vehicle. .. That is, when the presence of a person is not detected by the at least one motion sensor 8, the control device 100 turns off the human sensor, and when the presence of a person is detected by at least one motion sensor 8, the control device 100 turns off the human sensor. Turn on the motion flag.
  • step S730: YES When the torque calculation unit 103 determines that the human feeling flag is turned off (step S730: YES), the torque calculation unit 103 sets the first force (vector) Fu1 to the upper limit value Fu of the tensile force Ft (step S740). Further, when the torque calculation unit 103 determines that the human feeling flag is turned on (step S730: NO), the torque calculation unit 103 sets the second force (vector) Fu2, which is smaller than the first force Fu1, to the upper limit of the tensile force Ft. Set to the value Fu (step S745). After the processing of step S740 or S745, the torque calculation unit 103 sets (resets) the smaller of the tensile force Ft and the upper limit value Fu set in step S710 to the tensile force Ft (step S750).
  • the torque calculation unit 103 has a hand unit 4 for each joint J1-J3 from the tensile force Ft set in step S750 and the Jacobian determinant shown in the following equation (5).
  • the target torque setting unit 105 sums the joint torque Tj (i) calculated by the torque calculation unit 103 as described above and the gravity compensation torque Tc (i) separately calculated by the gravity compensation unit 104.
  • the target torque Ttag (1) -Ttag (3) for relatively rotating the two arms 3 and the like is set (step S770).
  • FIG. 8 is a flowchart illustrating the setting procedure of the target pressures Ptag1 (i) and Ptag2 (i) by the target pressure setting unit 110 in step S80.
  • the target pressure setting unit 110 first sets the variable i, that is, the joint number to the value 1 (step S800).
  • the contraction force calculation unit 108 of the target pressure setting unit 110 has a target torque Ttag (i) for the joint Ji set by the target torque setting unit 105 and a target rigidity of the joint Ji set by the target rigidity setting unit 106.
  • Acquire R (i) step S810).
  • the contraction rate setting unit 107 of the target pressure setting unit 110 acquires the current joint angle ⁇ i of the joint Ji detected by the corresponding joint angle sensor 7.
  • the contraction rate setting unit 107 of the target pressure setting unit 110 that has acquired the joint angle ⁇ i has the contraction rate Cr1 (i) of the two hydraulic actuators M constituting the artificial muscle AM1 on one side corresponding to the joint Ji, and the joint.
  • the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the artificial muscle AM2 on the other side corresponding to Ji is set (step S820).
  • the contraction rate setting unit 107 configures the artificial muscle AM1 on one side based on the joint angle ⁇ i of the joint Ji, the specifications of the robot arm 2 (robot device 1) (dimensions of the arm 3 and the like), and the like.
  • the contraction rate Cr1 (i) of the two hydraulic actuators M and the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the artificial muscle AM2 on the other side are derived and set.
  • the contraction force calculation unit 108 of the target pressure setting unit 110 is artificial on one side corresponding to the joint Ji based on the target torque Ttag (i) acquired in step S810 and the target rigidity R (i) of the joint Ji.
  • the contraction force (tensile force) Fc1 (i) required for the two hydraulic actuators M constituting the muscle AM1 and the two hydraulic actuators M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji are required.
  • the contraction force (tensile force) Fc2 (i) to be generated is calculated (step S830).
  • step S830 the contraction force calculation unit 108 solves the simultaneous equations obtained from these two relational expressions, and thereby, the contraction force Fc1 corresponding to the target torque Ttag (i) and the target rigidity R (i) of the joint Ji. (I), Fc2 (i) is calculated.
  • the target pressure derivation unit 109 of the target pressure setting unit 110 has a pressure corresponding to the contraction rate Cr1 (i) and the contraction force Fc1 (i) from the target pressure setting map illustrated in FIG. Is appropriately linearly interpolated and set to the target pressure Ptag1 (i) of the two hydraulic actuators M constituting the artificial muscle AM1 on one side (step S840). Further, in step S840, the target pressure derivation unit 109 derives the pressure corresponding to the contraction rate Cr2 (i) and the contraction force Fc2 (i) from the target pressure setting map to form the artificial muscle AM2 on the other side. The target pressure Ptag2 (i) of the two hydraulic actuators M is set.
  • the target pressure setting map of FIG. 9 shows the static characteristics of the hydraulic actuator M as an artificial muscle, and the contraction rate of the tube T and the tube T are generated for each hydraulic pressure supplied to the hydraulic actuator M. It was created through experiments and analysis in advance so as to define the relationship with the contraction force. In this way, the pressure corresponding to the contraction rates Cr1 (i) and Cr2 (i) and the contraction forces Fc1 (i) and Fc2 (i) of the tube T is set to the target pressures Ptag1 (i) and Ptag2 (i). Therefore, the target pressures Ptag1 (i) and Ptag2 (i) can be set accurately according to the request to the robot arm 2.
  • the target pressure setting unit 110 increments the variable i (step S850) and determines whether or not the variable i is a value N + 1 or more. Determination (step S860).
  • the target pressure setting unit 110 determines that the variable i is less than the value N + 1 (step S860: NO)
  • the target pressure setting unit 110 re-executes the process of the above steps S810-S860.
  • the target pressure setting unit 110 determines that the variable i is the value N + 1 or more (step S860: YES), as shown in FIG.
  • the current command value setting unit 111 of the control device 100 displays a map or the like (not shown). Using, each of the target pressures Ptag1 (i) and Ptag2 (i) of each joint Ji is directly converted into a current command value (step S90).
  • the current command value derived by the current command value setting unit 111 is given to the valve drive unit 112 of the control device 100, and the valve drive unit 112 has a plurality of first and second linear solenoids, respectively, based on the current command.
  • the valves 151 and 152 are controlled (PWM control) (step S100).
  • the current command value to the liquid supply device 10 according to the target torque Ttag (i) is easily and quickly set, and the first and second linears of the liquid supply device 10 are controlled based on the current command value.
  • Each of the solenoid valves 151 and 152 produces a hydraulic pressure corresponding to the corresponding target pressure Ptag1 (i) or Ptag2 (i). Further, the hydraulic oil regulated by the first and second linear solenoid valves 151 and 152 is supplied to the tube T of the corresponding hydraulic actuator M via the first and second supply cutoff valves 161, 162.
  • the flow rate control valve adjusts the flow rate of the hydraulic oil and supplies it into the tube T, or the hydraulic pressure supplied to the tube T is detected by the pressure sensor so that the actual hydraulic pressure matches the target pressure.
  • the hydraulic pressure supplied to each tube T within a short time from the setting of the target pressures Ptag1 (i) and Ptag2 (i) is applied to the target pressures Ptag1 (i) and Ptag2 (i), as compared with the case of feedback control. It is possible to substantially match i) so that the actual shrinkage rate of each tube T can be made to follow the required value with good responsiveness and high accuracy.
  • the control device 100 temporarily terminates the routine of FIG. 6, and executes the process of step S10 and subsequent steps again according to the arrival of the next execution timing.
  • step S40 of FIG. 6 determines that the current position is from the previous position. It is determined whether or not a predetermined relatively short time (predetermined time) has elapsed since the change substantially stopped (step S55). When it is determined that the predetermined time has not elapsed since the current position does not substantially change (step S55: NO), the torque calculation unit 103 determines, for example, the difference between the target arrival position and the current position and the said. The target position of the hand unit 4 is set based on the predetermined time (step S65).
  • predetermined time a predetermined relatively short time
  • step S65 for example, the torque calculation unit 103 sets the target position so that the target position coincides with the target arrival position shortly before the predetermined time elapses after the current position does not substantially change. And change at a constant rate.
  • the processes after step S70 are executed. Further, the target position set in step S65 is also given to the target rigidity setting unit 106, and the target rigidity setting unit 106 sets the target rigidity R (i) of each joint Ji based on the acquired target position and the like. Set.
  • step S55 the control device 100 ends the routine of FIG. 6 and causes the hand unit 4 to grip the gripping object. Executes the hand control routine of. Further, the target position setting unit 101 of the control device 100 executes the routine of FIG. 5 until the gripping target is gripped by the hand unit 4, and sets the target arrival position and the target trajectory according to the mounting position of the gripping target. Set. Further, when the gripping target is gripped by the hand unit 4 and the hand control routine is completed, the control device 100 re-executes the routine of FIG. 6 in order to convey the gripping target to the mounting position by the robot arm 2.
  • the target position of the hand unit 4 may be set to change at a predetermined rate from the current position to the target arrival position, and the target position is one to the target arrival position.
  • the routine of FIG. 6 may be terminated when a predetermined time has elapsed.
  • the target position setting unit 101 of the control device 100 of the robot device 1 mounts the gripping target (hand) gripped by the hand portion 4 of the robot device 1 or the hand portion 4 on the gripping target or the gripping target.
  • the gripping object or mounting from the hand unit 4 A target reaching position of the hand portion 4 to which a predetermined pressing force Fp is applied to the surface is set (step S2 in FIG. 5). That is, as shown in FIG. 10, the target position setting unit 101 sets a position slightly ahead of the position of the pinching target or the like to the target arrival position of the hand unit 4.
  • the control device 100 has a target torque Ttag (i) for each joint Ji of the robot arm 2 based on the target position forming the target trajectory set based on the target arrival position and the current position of the hand unit 4. (Step S70 in FIG. 6), and the target pressures Ptag1 (i) and Ptag2 (i) of the plurality of hydraulic actuators M corresponding to each joint Ji are set based on the target torque Ttag (i) (FIG. 6). Step S80 of 6. Further, in the control device 100, the pressure of the hydraulic oil supplied to each hydraulic actuator M is applied from before the hand portion 4 comes into contact with the gripping object or the mounting surface until the target position coincides with the target arrival position. The first and second linear solenoid valves 151 and 152 of the liquid supply device 10 are controlled so as to have the target pressures Ptag1 (i) and Ptag2 (i) (steps S90-S100 in FIG. 6).
  • the above-mentioned pushing is performed in consideration of variations in the position of the gripping object or the like so that the hand portion 4 or the gripping object (hand) is brought into contact with the gripping object or the mounting surface (object) without destroying the gripping object.
  • the pressure Fp is set, the moving speed of the hand unit 4 is reduced when the hand unit 4 or the like approaches the gripping object to some extent, or the sensor detects the contact between the hand unit 4 or the like and the gripping object or the like. It is possible to bring the hand portion 4 or the like of the robot device 1 into contact with the gripping object or the like without causing the trouble.
  • the target torque (target driving force) Ttag (i) based on the target position of the hand unit 4 according to the target arrival position and the current position of the hand unit 4, and more specifically, the target torque Ttag (i).
  • the liquid supply device 10 By controlling the liquid supply device 10 based on the target pressures Ptag1 (i) and Ptag2 (i) based on, each liquid without using a sensor for detecting the hydraulic pressure supplied to each hydraulic actuator M as an artificial muscle. It is possible to operate the pressure actuator M with high accuracy and responsiveness to the request.
  • the target position setting unit (target arrival position setting unit and target trajectory setting unit) 101 of the control device 100 sets the target arrival position, and is based on the target arrival position, the target speed of the hand unit 4, and the target acceleration.
  • the target trajectory of the hand unit 4 including the plurality of target positions is set (steps S1-S3 in FIG. 5).
  • the target torque setting unit 105 calculates the tensile force (driving force) Ft for moving the hand unit (hand) 4 of the robot device 1 from the current position to the target position, and determines the joint Ji based on the tensile force Ft.
  • the target torque Ttag (i) for relatively rotating the two arms (links) 3 and the like connected via the beam is set (step S70 in FIG.
  • the target pressure setting unit 110 sets the target pressures Ptag1 (i) and Ptag2 (i) based on the target torque Ttag (i) (step S80 in FIG. 6). Further, the current command value setting unit 111 directly converts the target pressures Ptag1 (i) and Ptag2 (i) into current command values to the first and second linear solenoid valves 151 and 152 of the liquid supply device 10 (FIG. 6). Step S90).
  • the current command values from the target torque Ttag (i) to the first and second linear solenoid valves 151 and 152 are easily and quickly set to respond to the hydraulic pressure supplied to each hydraulic actuator M as an artificial muscle.
  • the hand portion 4 of the robot device 1 is moved so as to follow a target trajectory by a plurality of hydraulic actuators M so that the hand portion 4 is brought into contact with the gripping target, or the gripping target is brought into contact with the mounting surface. It is possible to make it.
  • the target position setting unit 101 may set only the target arrival position without setting the target trajectory. In this case, the target torque setting unit 105 determines the difference between the target arrival position and the current position.
  • the target Ttag (i) may be set based on the above.
  • the position of the gripping object cannot be accurately acquired at the start of starting the robot device 1, the position of the gripping object acquired by a camera or the like at predetermined time intervals after the hand unit 4 approaches the gripping object.
  • the target arrival position may be derived from the predetermined time intervals.
  • the torque calculation unit 103 of the target torque setting unit 105 calculates the tensile force Ft so as not to exceed a predetermined upper limit value Fu (Fu1 or Fu2) (step S750 in FIG. 7).
  • the torque calculation unit 103 has a person around the robot device 1 (for example, an area including an operating range of the robot arm 2 such as a room where the robot device 1 is arranged or the inside of a fence).
  • the upper limit value Fu is made smaller than when there is no person around the robot device 1 (FIG. 7). Step S720-S745).
  • the target position setting unit (target trajectory setting unit) 101 determines in step S40 of FIG. 6 that the current position of the hand unit 4 has not substantially changed from the previous position.
  • the target position of the hand unit 4 may be set at predetermined time intervals while limiting the target acceleration separately given so as not to exceed a predetermined upper limit acceleration.
  • the target position setting unit 101 may be configured so that when there is a person around the robot device 1, the upper limit acceleration is smaller than when there is no person around the robot device 1. Even with this aspect, even if a person comes into contact with the robot device 1 while the hand portion 4 of the robot device 1 moves along the target trajectory, the force received by the person after the contact can be satisfactorily relaxed. Become.
  • the torque calculation unit 103 of the target torque setting unit 105 includes a relational expression of feedback control including a proportional term obtained by multiplying the difference between the target position and the current position by the gains K px , K py , and K pz .
  • the tensile force Ft is calculated according to 1), and the gains K px , K py , and K pz are changed according to the target position of the hand portion 4 (step S700 in FIG. 7). This makes it possible to change the followability of the hand unit 4 to the target trajectory and the degree of increase of the pressing force Fp applied from the hand unit 4 or the like to the gripping object or the like after contact.
  • the gain K px , K py , and K pz are increased, the followability of the hand portion 4 to the target trajectory is improved, while after the contact between the hand portion 4 and the gripping target or between the gripping target and the mounting surface.
  • the increasing gradient of the pressing force Fp after the contact is increased.
  • the gains K px , K py , and K pz are reduced, the followability of the hand portion 4 to the target trajectory becomes gentle, but after the contact between the hand portion 4 and the gripping target or on the gripping target.
  • the increasing gradient of the pressing force Fp after contact with the mounting surface can be reduced.
  • the gains K px , K py , and K pz are made smaller than the previous values when the hand portion 4 approaches the gripping object or the mounting surface to some extent, the responsiveness of the robot device 1 is achieved. And safety can be further improved.
  • the gains K px , K py , and K pz may be changed according to the current position of the hand unit 4.
  • the torque calculation unit 103 of the target torque setting unit 105 calculates the joint torque Tj (i) for moving the hand unit 4 of the robot device 1 from the current position to the target position for each joint J1-J3. do. Further, the gravity compensating unit 104 of the target torque setting unit 105 calculates the gravity compensating torque Tc (i) required to maintain the posture of the robot arm 2 (robot device 1) for each of the joints J1-J3. Further, the target torque setting unit 105 is for relatively rotating the sum of the joint torque Tj (i) and the gravity compensation torque Tc (i) so that the two arms 3 and the like connected via the joint Ji are relatively rotated.
  • the target torque Ttag (i) is set (step S70 in FIG. 6 and step S770 in FIG. 7). This makes it possible to move the hand portion 4 of the robot device 1 by the plurality of hydraulic actuators M while suppressing the disturbance of the behavior of the robot arm 2 (robot device 1).
  • control device 100 corresponds to the target rigidity setting unit 106 that sets the target rigidity R (i) of each joint Ji based on at least the target position of the hand unit 4 of the robot device 1 and the current position of the robot device 1.
  • the contraction rate setting unit 107 that sets the contraction rates Cr1 (i) and Cr2 (i) of each hydraulic actuator M based on each joint angle ⁇ i, and the target torque Ttag (i) and the target rigidity R (i).
  • the contraction force calculation unit 108 that calculates the contraction forces Fc1 (i) and Fc2 (i) required for the plurality of (pair) hydraulic actuators M corresponding to the joint Ji, and the contraction rate Cr1 (i) from the target pressure setting map.
  • the pressure corresponding to the contraction force Fc1 (i) and the contraction rate Cr2 (i) and the pressure corresponding to the contraction force Fc2 (i) are derived and set to the target pressures Ptag1 (i) and Ptag2 (i).
  • a target pressure derivation unit 109 the target pressures Ptag1 (i) and Ptag2 (i) are set accurately according to the requirements of each hydraulic actuator M as an artificial muscle, and the robot device 1 including the plurality of hydraulic actuators M is responsively stable. It becomes possible to operate.
  • the robot device 1 of the present disclosure supplies liquid to a plurality of hydraulic actuators (artificial muscles) M that operate by being supplied with hydraulic oil (liquid) and the plurality of hydraulic actuators M.
  • a liquid supply device 10 and a control device 100 for controlling the liquid supply device 10 are included.
  • the control device 100 sets the target torque (target driving force) Ttag (i) for driving the robot device 1 (step S70 in FIG. 6), and the hydraulic pressure is based on the target torque Ttag (i).
  • the target hydraulic pressures Ptag1 (i) and Ptag2 (i) supplied to the actuator M are set (step S80 in FIG. 6), and the liquid supply device 10 is set based on the target pressures Ptag1 (i) and Ptag2 (i). Control (steps S90-S100 in FIG. 6).
  • control device 100 is provided by the target torque setting unit 105 that sets the target torque Ttag (i) based on the target position and the current position of the hand unit 4 that is a part of the robot device 1, and the target torque setting unit 105.
  • the target pressure setting unit 110 for setting the target pressures Ptag1 (i) and Ptag2 (i) based on the set target torque Ttag (i), and the target pressures Ptag1 (i) and Ptag2 set by the target pressure setting unit 110. It includes a current command value setting unit 111 that sets a current command value to the liquid supply device 10 based on (i).
  • the target torque setting unit 105 includes a joint torque (driving force) Tj (i) that moves the hand unit 4 that is a part of the robot device 1 from the current position to the target position, and the robot device 1 (robot arm 2).
  • the sum of the gravity compensation torque (gravity compensation amount) Tc (i) required to maintain the posture is set to the target torque Ttag (i) (step S70 in FIG. 6, step S770 in FIG. 7).
  • the target pressure setting unit 110 sets the contraction rates Cr1 (i) and Cr2 (i) of the hydraulic actuator M based on the joint angle ⁇ i of the joint Ji according to the current position of the robot device 1 (hand unit 4).
  • the contraction forces Fc1 (i) and Fc2 (i) of the hydraulic actuator M are calculated based on the target torque Ttag (i) set by the target torque setting unit 105 (FIG. 8).
  • the target pressures Ptag1 (i) and Ptag2 (i) are set based on the contraction rates Cr1 (i) and Cr2 (i) and the contraction forces Fc1 (i) and Fc2 (i) (FIG. 8).
  • Step S840 ).
  • the contraction rates Cr1 (i) and Cr2 (i) may be set based on the target angle of each joint Ji according to the target position of the hand portion 4 of the robot device 1.
  • the robot device 1 includes a plurality of joints Ji, a plurality of arms 3 as a plurality of links, and a support member 5, and the hydraulic actuator M includes two arms 3 and the like connected via the joints Ji. Rotate relatively. That is, the two arms 3 and the like constitute two hydraulic actuators M constituting the artificial muscle AM1 on one side and artificial muscle AM2 on the other side arranged so as to antagonize the two hydraulic actuators M. It is rotated relative to the other two hydraulic actuators M.
  • the target torque Ttag (i) is a target value of the joint torque Tj (i) that relatively rotates the two links.
  • the hydraulic actuator M of the above may be connected to an elastic body such as a spring or a rubber material arranged so as to antagonize the hydraulic actuator M.
  • control device 100 of the robot device 1 includes a target rigidity setting unit 106 that sets the target rigidity R (i) of the joint Ji at least based on the target position of the robot device 1, and is set by the target torque setting unit 105.
  • the contraction forces Fc1 (i) and Fc2 (i) of the hydraulic actuator M are calculated based on the target torque Ttag (i) and the target rigidity R (i) set by the target rigidity setting unit 106 (FIG. 8). Step S830).
  • each joint Ji may be set at least based on the current position of the robot device 1, that is, the hand portion 4.
  • the liquid supply device 10 provides the first and second linear solenoid valves 151 and 152 as the hydraulic pressure adjusting device for adjusting the hydraulic oil from the pump 13 as the liquid supply source and supplying it to the corresponding hydraulic pressure actuator M. Including multiple each.
  • the first and second linear solenoid valves 151 and 152 have a solenoid portion 15e, a spool 15s, a spring SP for urging the spool 15s, an input port 15i to which hydraulic oil is supplied, an output port 15o, and an output port 15o. It includes a feedback port 15f that communicates with the input port 15i and a drain port 15d that can communicate with the input port 15i and the output port 15o.
  • first and second linear solenoid valves 151 and 152 are added to the spool 15s by the thrust generated by the solenoid portion 15e, the urging force of the spring SP, and the action of the hydraulic pressure supplied from the output port 15o to the feedback port 15f.
  • the pressure of the hydraulic oil is adjusted by balancing the thrust.
  • At least one of the first and second linear solenoid valves 151 and 152 may be a normally open valve.
  • the normally open valve balances the thrust from the solenoid part and the thrust due to the hydraulic pressure supplied to the feedback port so as to act in the same direction as the thrust from the solenoid part with the urging force of the spring.
  • at least one of the linear solenoid valves 151-156 does not have a dedicated feedback port, and is configured so that the output pressure (driving pressure) acts on the spool as a feedback pressure inside the sleeve accommodating the spool. (For example, see JP-A-2020-41687).
  • At least one of the first and second linear solenoid valves 151 and 152 (for example, the maximum value of the required output (product of contraction force and contraction speed) is all hydraulic actuators M.
  • the linear solenoid valve (or on / off solenoid valve) that outputs the signal pressure according to the current supplied to the solenoid part and the one corresponding to the hydraulic actuator M, which is the largest in the above, operates according to the signal pressure. It may be replaced with a control valve that regulates the pressure of oil.
  • the control valve includes a spool arranged in the valve body, a spring for urging the spool, an input port, an output port, a feedback port, a signal pressure input port, and a drain port. It may be configured so that the output pressure (driving pressure) acts on the spool as a feedback pressure inside the spool.
  • At least one of the first and second linear solenoid valves 151 and 152 is a flow control valve in which the hydraulic pressure (hydraulic pressure) supplied to the corresponding hydraulic actuator M is controlled to be the target pressure. It may be replaced. Further, the original pressure generation valve 14 may be omitted from the liquid supply device 10. Further, an accumulator (accumulator) for storing the hydraulic pressure generated by the pump 13 may be provided in the liquid supply device 10. Further, the liquid supply device 10 may be configured to supply a liquid other than hydraulic oil such as water to the hydraulic actuator M. In addition, the first and second linear solenoid valves 151 and 152 may be omitted from the liquid supply device 10, and a pump as a hydraulic pressure adjusting device may be provided for each of the plurality of hydraulic actuators M.
  • the hydraulic actuator M as an artificial muscle includes a tube T to which hydraulic oil is supplied to the inside and contracts in the axial direction while expanding in the radial direction in response to an increase in the hydraulic pressure inside.
  • the hydraulic actuator M may include a tube that expands in the radial direction and contracts in the axial direction when the liquid is supplied.
  • an inner tubular member formed of an elastic body and an elastic body.
  • Axial fiber reinforced liquid containing an outer tubular member and a fiber layer arranged between the inner tubular member and the outer tubular member.
  • the hydraulic actuator M may be a liquid cylinder including a cylinder and a piston.
  • the artificial muscle of the robot device 1 may use a gas such as air as a working fluid.
  • the robot arm 2 of the robot device 1 may include a swing motor (for example, a swing motor that rotates the base (wrist portion) of the hand portion 4) as a hydraulic actuator (fluid actuator). That is, the robot arm 2 (robot body) may include at least one of a hydraulic actuator as an artificial muscle and a swing motor. Further, the robot arm 2 of the robot device 1 may include a fluid pressure cylinder such as an air cylinder or a hydraulic cylinder as a hydraulic actuator. Further, in the robot device 1, the tank 11 may be supported by a robot body such as a robot arm 2.
  • the robot device 1 may include only one joint, or may include only one or two hydraulic actuators M as artificial muscles. Further, the robot device 1 is not limited to those including a robot arm 2 having at least one hydraulic actuator M or the like and a hand portion 4, and the robot device 1 includes at least one hydraulic actuator, a tool such as a drill bit, or a switch or the like. An element other than the hand portion 4 such as a pressing member that presses the robot arm may include a robot arm attached to the hand. Further, the robot device 1 may be a walking robot, a wearable robot, or the like.
  • FIG. 11 is a block diagram showing another control device 100B applicable to the robot device 1.
  • the same elements as those of the control device 100 described above are designated by the same reference numerals, and duplicate description will be omitted.
  • the control device 100B shown in FIG. 11 is also constructed by at least one of hardware such as a computer CPU, ROM, and RAM, and software such as a control program installed in the computer. As shown in the figure, the control device 100B has a target position setting unit 101, a current position derivation unit 102, a target torque setting unit 105 (torque calculation unit 103 and a gravity compensation unit 104), and a current, similarly to the control device 100. It includes a command value setting unit 111 and a valve drive unit 112. Further, the control device 100B includes a contraction force setting unit 116, a contraction rate setting unit 107B, a contraction force calculation unit 108B, and a target pressure setting unit 110B including a target pressure derivation unit 109B.
  • the contraction force setting unit 116 of the target pressure setting unit 110B defines one of the artificial muscle AM1 on one side and the artificial muscle AM2 on the other side as the first artificial muscle for each joint J1-J3, and the other. Is defined as the second artificial muscle. Further, the contraction force setting unit 116 constitutes the first artificial muscle at least for each joint J1-J3 with a constant force (tensile force) predetermined according to the target position of the robot device 1, that is, the hand unit 4.
  • the first contraction force Fc1 (i) generated by the contraction of the tube T of the two hydraulic actuators M is set.
  • the contraction rate setting unit 107B of the target pressure setting unit 110B is the two liquids constituting the first artificial muscle for each joint J1-J3 based on the joint angle ⁇ i of the joint Ji according to the current position of the hand unit 4.
  • the contraction rate Cr1 (i) of the pressure actuator M and the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the second artificial muscle are set.
  • the contraction force calculation unit 108B of the target pressure setting unit 110B has the target torque Ttag (i) set by the target torque setting unit 105 and the first contraction force set by the contraction force setting unit 116 for each joint J1-J3. Based on Fc1 (i), the second contractile force Fc2 (i) generated by the contraction of the tubes T of the two hydraulic actuators M constituting the second artificial muscle is set.
  • the control device 100B Prior to the start of operation of the robot arm 2, the control device 100B executes the routine of FIG. 5 in the same manner as the control device 100 (before the start of movement of the hand unit 4) to reach the final target arrival position of the hand unit 4. (X r , y r , z r ) and the target trajectory of the hand unit 4 from the initial position to the target arrival position (x r , y r , z r ) are set. After setting the target arrival position and the target trajectory, the control device 100B repeatedly executes the robot arm control routine of FIG. 6 at predetermined time (for example, about 10 ms) in response to an execution instruction by the user. After executing the process of steps S10 to S70, the control device 100B sets the target pressures Ptag1 (i) and Ptag2 (i) of the plurality of hydraulic actuators M according to the procedure shown in FIG. 12 in step S80.
  • predetermined time for example, about 10 ms
  • FIG. 12 is a flowchart illustrating the setting procedure of the target pressures Ptag1 (i) and Ptag2 (i) by the target pressure setting unit 110B of the control device 100B.
  • the target pressure setting unit 110B first sets the variable i, that is, the joint number to the value 1 (step S800B).
  • the contraction force setting unit 116 and the contraction force calculation unit 108 of the target pressure setting unit 110B acquire the target torque Ttag (i) for the joint Ji set by the target torque setting unit 105, and the target pressure setting unit 110B
  • the contraction rate setting unit 107 acquires the current joint angle ⁇ i of the joint Ji detected by the corresponding joint angle sensor 7 (step S805B).
  • the contraction force setting unit 116 of the target pressure setting unit 110B determines whether or not the acquired target torque Ttag (i) is equal to or greater than a predetermined relatively large threshold value (predetermined value) Tref. (Step S810B).
  • the contraction force setting unit 116 determines that the target torque Ttag (i) acquired in step S805B is the size and direction of the joint.
  • the contraction force setting unit 116 determines the direction of the target torque Ttag (i) acquired in step S805B and the direction of the joint Ji. From the structure, among the artificial muscles AM1 and AM2 on one side and the other side corresponding to the joint Ji, the driving force corresponding to the target torque Ttag (i) is connected to the two arms 3 and the like connected via the joint Ji. One that outputs the reaction force with respect to the driving force when acting is defined as the first artificial muscle, and the other is defined as the second artificial muscle (step S825B).
  • the contraction force setting unit 116 After the processing of step S820B or S825B, the contraction force setting unit 116 generates the first contraction force Fc1 (i) by the contraction of the tubes T of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji. Is set (step S830B).
  • the contraction rate setting unit 107B of the target pressure setting unit 110B has the contraction rate Cr1 (i) of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji and the second artificial muscle corresponding to the joint Ji.
  • the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the muscle is set (step S835B).
  • the contraction rate setting unit 107B is the first artificial muscle corresponding to the joint Ji based on the joint angle ⁇ i of the joint Ji, the specifications of the robot arm 2 (robot device 1) (dimensions of the arm 3 and the like), and the like. Derivation and setting of the contraction rate Cr1 (i) of the two hydraulic actuators M constituting the muscle and the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the second artificial muscle corresponding to the joint Ji. ..
  • the contraction force calculation unit 108B of the target pressure setting unit 110B has a joint from the target torque Ttag (i) acquired in step S805B and the first contraction force Fc1 (i) set by the contraction force setting unit 116.
  • the second contraction force (tensile force) Fc2 (i) generated in the two hydraulic actuators M constituting the second artificial muscle corresponding to Ji is calculated (step S840B).
  • the target pressure derivation unit 109B of the target pressure setting unit 110B performs linear interpolation of the pressure corresponding to the contraction rate Cr1 (i) and the first contraction force Fc1 (i) from the target pressure setting map shown in FIG.
  • step S845B it is derived and set to the target pressure Ptag1 (i) of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji (step S845B). Further, in step S845B, the target pressure derivation unit 109B derives the pressure corresponding to the contraction rate Cr2 (i) and the second contraction force Fc2 (i) from the target pressure setting map, and the second contractor Ji corresponds to the joint Ji. The target pressure Ptag2 (i) of the two hydraulic actuators M constituting the artificial muscle is set.
  • step S850B When the target pressure setting unit 110B determines that the variable i is less than the value N + 1 (step S855B: NO), the process of the above steps S805B-S855B is executed again.
  • step S855B YES
  • the setting of the target pressures Ptag1 (i) and Ptag2 (i) of each hydraulic actuator M is completed, and the figure is shown.
  • the processing of steps S90 and S100 of 6 is executed.
  • the contraction force setting unit 116 of the control device 100B is used at the target arrival position of the hand unit 4 and at that time in the robot arm control routine of FIG.
  • the target position of the hand unit 4 and the above-mentioned human feeling flag are acquired (step S8300).
  • the contraction force setting unit 116 determines whether or not the human feeling flag is turned off (step S8305), and when it is determined that the human feeling flag is turned off (step S8305: YES), the hand unit 4 determines. It is determined whether or not the gripping object is gripped (step S8310).
  • step S8310 When it is determined that the gripping target is not gripped by the hand unit 4 (step S8310: NO), the contraction force setting unit 116 is concerned based on the target arrival position and the target position of the hand unit 4 acquired in step S8300. It is determined whether or not the hand portion 4 is located substantially directly above the gripping target (step S8315).
  • the contraction force setting unit 116 determines that the hand unit 4 is not located substantially directly above the gripping object (step S8315: NO)
  • the contraction force setting unit 116 has a moderate and constant contraction force Fcm (i) predetermined for the joint Ji. ) Is set to the first contractile force Fc1 (i) generated by the contraction of the tubes T of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji (step S8320), and the process of step S830B is performed.
  • the contraction force setting unit 116 determines a relatively small constant contraction force Fcs for the joint Ji. (I) is set to the first contractile force Fc1 (i) (step S8340), and the process of step S830B is completed.
  • the maximum contractile force generated by the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji and the two hydraulic actuators M constituting the second artificial muscle corresponding to the joint Ji are generated. If the maximum contraction force is the same and the maximum contraction force is "Fmax”, the maximum torque Tmax that can be applied to the joint Ji from the four hydraulic actuators M is
  • At this time, if the rigidity of the joint Ji is "R (i)", then R Fmax.
  • Tmax r ⁇ Fmax.
  • the contraction force setting unit 116 determines that the gripping target is gripped by the hand unit 4 (step S8310: YES)
  • the contraction force setting unit 116 is based on the target arrival position and the target position of the hand unit 4 acquired in step S8300.
  • the contraction force setting unit 116 is said to be based on, for example, the target arrival position and the target position of the hand unit 4. It is determined whether or not the hand portion 4 is moving toward the mounting position (step S8330).
  • step S8330 determines that the hand unit 4 is moving toward the mounting position (step S8330: YES), for example, based on the target arrival position and the target position of the hand unit 4, the hand unit It is determined whether or not 4 has reached a position separated from the mounting position by a relatively short predetermined distance (step S8335).
  • step S8335 determines that the hand unit 4 has reached a position separated by a predetermined distance from the mounting position (step S8335: YES)
  • the contraction force setting unit 116 applies the above-mentioned relatively small constant contraction force Fcs (i).
  • the first contraction force Fc1 (i) is set (step S8340), and the process of step S830B is completed.
  • the rigidity of the joint Ji is reduced, and the impact when the gripping object gripped by the hand portion 4 is placed on the mounting surface can be satisfactorily absorbed by the joints J1-J3.
  • step S8335 when it is determined that the hand portion 4 has not reached a position separated by a predetermined distance from the mounting position (step S8335: NO), the contraction force setting portion 116 is relatively predetermined for the joint Ji.
  • the large contraction force Fcg (i) is set to the first contraction force Fc1 (i) (step S8345), and the process of step S830B is completed.
  • step S8330 when it is determined that the hand portion 4 is substantially directly above the mounting position and separated from the mounting position (step S8330: NO).
  • the contraction force setting unit 116 sets a relatively large contraction force Fcg (i) predetermined for the joint Ji to the first contraction force Fc1 (i) of each joint Ji (step S8345), and ends the process of step S830B.
  • step S8325 when it is determined that the hand unit 4 is not located substantially directly above the mounting position (step S8325: NO), the contraction force setting unit 116 is the hand unit 4 at that time, as shown in FIG. (Step S8350), and it is determined whether or not the hand unit 4 accelerates or decelerates based on the target acceleration (step S8360).
  • step S8360: NO the contraction force setting unit 116 sets the above-mentioned medium contraction force Fcm (i) to the first contraction force Fc1 (i) (step S8360: NO).
  • step S8375 the process of step S830B is terminated.
  • the contraction force setting unit 116 determines whether or not the hand unit 4 accelerates from the target acceleration acquired in step S8350. (Step S8370).
  • the contraction force setting unit 116 sets the above-mentioned relatively small contraction force Fcs (i) to the first contraction force Fc1 (i) (step S8380). , End the process of step S830B.
  • the rigidity of the joint Ji can be reduced to sufficiently secure the contraction force (torque) of each hydraulic actuator M.
  • step S8370 when it is determined that the hand unit 4 decelerates (step S8370: NO), the contraction force setting unit 116 sets the above-mentioned relatively large contraction force Fcg (i) to the first contraction force Fc1 (i) (step). S8390), the process of step S830B is terminated. As a result, when the hand portion 4 that grips the gripping object decelerates, the rigidity of the joint Ji is increased, and it is possible to satisfactorily absorb the vibration of the robot arm 2.
  • step S8305 determines that the human feeling flag is turned on
  • step S8340 the above-mentioned relatively small contraction force Fcs (i) is set to the first contraction force Fc1 (i).
  • Step S8340 the process of step S830B is terminated.
  • the rigidity of the joint Ji can be reduced, so that even if one person comes into contact with the robot arm 2 or the hand portion 4 while the robot device 1 is operating, the force that a person receives after the contact is satisfactorily relaxed. Is possible.
  • the control device 100B includes a target torque setting unit 105 for setting a target torque Ttag (i) for relatively rotating two arms 3 and the like connected via the joint Ji, and a contraction force.
  • the contraction force setting unit 116 generates a first contraction force Fc1 (1st contraction force Fc1) generated by two hydraulic actuators M constituting the first artificial muscle, which is one of the artificial muscles AM1 and AM2 on one side and the other side corresponding to the joint Ji. i) is set (step S830B in FIG. 12, steps S8300-S8390 in FIGS. 13 and 14).
  • control device 100B constitutes a second artificial muscle which is the other of the artificial muscles AM1 and AM2 on the one side and the other side based on the target torque Ttag (i) and the first contraction force Fc1 (i) 2.
  • the second contraction force Fc2 (i) generated in one hydraulic actuator M is set (step S840B in FIG. 12), and the two hydraulic actuators M constituting the first artificial muscle generate the first contraction force Fc1 (i).
  • the liquid supply device 10 is controlled so that the two hydraulic actuators M constituting the second artificial muscle generate the second contraction force Fc2 (i) (steps S90-S100 in FIG. 6).
  • the target torque Ttag (i) for relatively rotating the two arms 3 and the like and the first contraction force Fc1 (i) generated in the first artificial muscle are determined, the target torque Ttag (i) is determined.
  • the second contractile force Fc2 (i) generated in the second artificial muscle can be determined from i) and the first contractile force Fc1 (i). Then, by reducing the first contraction force Fc1 (i) and increasing the second contraction force Fc2 (i), the force according to the request is output while suppressing the increase in the rigidity R (i) of the joint Ji.
  • the hydraulic actuators M constituting the first and second artificial muscles can be operated with good responsiveness and high accuracy.
  • the second contraction force Fc2 (i) also increases according to the target torque Ttag (i), so that the rigidity R (i) of the joint Ji is increased.
  • the operation of the robot device 1 can be stabilized.
  • the robot device 1 including the pressure actuator M can be operated stably with good responsiveness.
  • the contraction force setting unit 116 of the control device 100B has two liquids constituting the first artificial muscle corresponding to the joint Ji for each joint J1-J3 based on at least the target position of the robot device 1, that is, the hand unit 4.
  • the first contraction force Fc1 (i) generated in the pressure actuator M is set.
  • the first contraction force Fc1 (i) is reduced and the second contraction force Fc2 (i) is increased. Therefore, it is possible to suppress an increase in the rigidity R (i) of the joint Ji.
  • the rigidity R (i) of the joint Ji is increased by increasing the first contraction force Fc1 (i). Can be done.
  • the contraction force setting unit 116 moves the hand unit 4 of the robot device 1 to the gripping target or the mounting position (target) of the gripping target
  • the contraction force setting unit 116 responds to the positional relationship between the robot device 1 and the gripping target or the like.
  • the first contractile force Fc1 (i) is changed (step S8300-S8390). This makes it possible to operate the robot device 1 responsively and stably to move the hand portion 4 toward the gripping target or the like.
  • the contraction force setting unit 116 lowers the first contraction force Fc1 (i) before the hand unit 4 which is a part of the robot device 1 comes into contact with the gripping target (steps S8315 and S8340), and the hand unit 4
  • the first contractile force Fc1 (i) is reduced before the gripped object, which is gripped by the robot and is substantially a part of the robot device 1, comes into contact with the mounting surface (steps S8315, S8340).
  • the rigidity of each joint Ji can be reduced according to the decrease in the first contraction force Fc1 (i), so that the impact when the hand portion 4 or the like of the robot device 1 comes into contact with the gripping object or the like is applied to each joint. It becomes possible to absorb well by Ji.
  • the contraction force setting unit 116 changes the first contraction force Fc1 (i) according to the moving speed and acceleration of the hand unit 4 of the robot device 1 (step S8350-S8390). As a result, the first contraction force Fc1 (i) is reduced and the second contraction force Fc2 (i) is increased to allow acceleration and high-speed movement of the hand portion 4 of the robot device 1, or the hand portion of the robot device 1. When 4 decelerates or moves at a low speed, it is possible to increase the rigidity R (i) of each joint Ji and suppress the generation of vibration.
  • the contraction force setting unit 116 is the first contraction force Fc1 when there is a person around the robot device 1 (for example, an area including an operating range of the robot arm 2 such as a room where the robot device 1 is arranged or the inside of a fence).
  • (I) is reduced (steps S8305 and S8340).
  • the rigidity R (i) of each joint Ji can be reduced, so that even if one person comes into contact with the robot device 1, the force that a person receives after the contact can be satisfactorily relaxed.
  • control device 100B includes a target pressure setting unit 110B including a contraction force setting unit 116, a contraction rate setting unit 107B, and a contraction force calculation unit 108B, and a current command value setting unit 111.
  • the contraction rate setting unit 107B sets the contraction rates Cr1 (i) and Cr2 (i) of the hydraulic actuators M constituting the first and second artificial muscles based on the joint angle ⁇ i of the joint Ji (step S835).
  • the contraction force calculation unit 108B calculates the second contraction force Fc2 (i) based on the target torque Ttag (i) and the first contraction force Fc1 (i) (step S840).
  • the target pressure setting unit 110B is the target pressure Ptag1 of the hydraulic oil supplied to the hydraulic actuator M constituting the first artificial muscle based on the first contraction rate Cr1 (i) and the first contraction force Fc1 (i). While setting i), the target pressure Ptag2 of the hydraulic oil supplied to the hydraulic actuator M constituting the second artificial muscle based on the second contraction rate Cr2 (i) and the second contraction force Fc2 (i) ( i) is set (step S845B). Further, the current command value setting unit 111 sets the current command values to the first and second linear solenoid valves 151 and 152 of the liquid supply device 10 based on the target pressures Ptag1 (i) and Ptag2 (i) (FIG. Step S90 of 6.
  • the contraction rates Cr1 (i) and Cr2 (i) may be set based on the target angle of each joint Ji according to the target position of the hand portion 4 of the robot device 1.
  • the target rigidity setting unit is omitted from the control device 100B, but the present invention is not limited to this. That is, the control device 100B may be provided with the same target rigidity setting unit as the target rigidity setting unit 106 of the control device 100, and the contraction force calculation unit 108B of the target pressure setting unit 110B has the rigidity of the joint Ji as the target rigidity.
  • the first and second contraction forces Fc1 (i) and Fc2 (i) may be corrected so as to have the target rigidity R (i) set by the setting unit. This makes it possible to generate a force according to the target torque Ttag (i) in the first and second artificial muscles while maintaining the rigidity of the joint Ji at a value required.
  • FIG. 15 is a block diagram showing another control device 100C applicable to the robot device 1.
  • the same elements as those of the control device 100 and the like described above are designated by the same reference numerals, and duplicate description will be omitted.
  • the control device 100C shown in FIG. 15 is also constructed by at least one of hardware such as a computer CPU, ROM, and RAM, and software such as a control program installed in the computer.
  • the control device 100C has a target position setting unit 101, a current position derivation unit 102, a target torque setting unit 105 (torque calculation unit 103 and a gravity compensation unit 104), similarly to the control device 100 and the like. It includes a current command value setting unit 111 and a valve drive unit 112.
  • the control device 100C includes a target pressure setting unit 110C including a first target pressure setting unit 121, a contraction rate setting unit 107C, a contraction force derivation unit 108C, and a second target pressure setting unit 122.
  • the first target pressure setting unit 121 of the target pressure setting unit 110C defines one of the artificial muscle AM1 on one side and the artificial muscle AM2 on the other side as the first artificial muscle for each joint J1-J3. , The other is defined as the second artificial muscle. Further, the first target pressure setting unit 121 is the target value of the hydraulic pressure supplied to the two hydraulic actuators M constituting the first artificial muscle with a predetermined constant pressure for each of the joints J1-J3. 1 Set the target pressure Ptag1 (i).
  • the contraction rate setting unit 107C of the target pressure setting unit 110C has two hydraulic pressures constituting the first artificial muscle for each joint J1-J3 based on the joint angle ⁇ i of the joint Ji according to the current position of the hand unit 4.
  • the contraction rate Cr1 (i) of the actuator M and the contraction rate Cr2 (i) of the two hydraulic actuators M constituting the second artificial muscle are set.
  • the contraction force derivation unit 108C of the target pressure setting unit 110C is set by the first target pressure setting unit 121 from the static characteristics of the hydraulic actuator M as an artificial muscle for each joint J1-J3 (1st target pressure Ptag1 (
  • the first contraction force Fc1 (i) corresponding to i) and the contraction rate Cr1 (i) set by the contraction rate setting unit 107C is derived.
  • the first contraction force Fc1 (i) is a contraction force generated by the contraction of the tubes T of the two hydraulic actuators M constituting the first artificial muscle.
  • the contraction force derivation unit 108C constitutes the second artificial muscle from the contraction force Fc1 (i) derived for each joint J1-J3 and the target torque Ttag (i) set by the target torque setting unit 105.
  • the second contraction force Fc2 (i) generated by the contraction of the tube T of the two hydraulic actuators M is calculated.
  • the second target pressure setting unit 122 of the target pressure setting unit 110C derives the contraction rate Cr2 (i) and the contraction force set by the contraction rate setting unit 107C from the static characteristics of the hydraulic actuator M for each joint J1-J3.
  • the pressure corresponding to the second contraction force Fc2 (i) calculated by the part 108C is derived and set to the second target pressure Ptag2 (i) of the two hydraulic actuators M constituting the second artificial muscle.
  • the control device 100C Prior to the start of operation of the robot arm 2 (before the start of movement of the hand unit 4), the control device 100C executes the routine of FIG. 5 and reaches the final target of the hand unit 4 in the same manner as the control device 100 and the like.
  • the position (x r , y r , z r ) and the target trajectory of the hand unit 4 from the initial position to the target arrival position (x r , y r , z r ) are set.
  • the control device 100C After setting the target arrival position and the target trajectory, the control device 100C repeatedly executes the robot arm control routine of FIG. 6 at predetermined time (for example, about 10 ms) in response to an execution instruction by the user.
  • the control device 100C sets the target pressures Ptag1 (i) and Ptag2 (i) of the plurality of hydraulic actuators M according to the procedure shown in FIG. 16 in step S80.
  • FIG. 16 is a flowchart illustrating the setting procedure of the target pressures Ptag1 (i) and Ptag2 (i) by the target pressure setting unit 110C of the control device 100C.
  • the target pressure setting unit 110C first sets the variable i, that is, the joint number to the value 1 (step S800C).
  • the first target pressure setting unit 121 and the contraction force derivation unit 108C of the target pressure setting unit 110C acquire the target torque Ttag (i) for the joint Ji set by the target torque setting unit 105, and the target pressure setting unit
  • the contraction rate setting unit 107C of 110C acquires the current joint angle ⁇ i of the joint Ji detected by the corresponding joint angle sensor 7 (step S805C).
  • the first target pressure setting unit 121 of the target pressure setting unit 110C determines whether or not the acquired target torque Ttag (i) is equal to or larger than a predetermined relatively large threshold value (predetermined value) Tref. Is determined (step S810C).
  • the first target pressure setting unit 121 is based on the magnitude and direction of the target torque Ttag (i) acquired in step S805C. , One of the above-mentioned artificial muscle AM1 on one side and the above-mentioned artificial muscle AM2 on the other side corresponding to the joint Ji, one of which has a larger required contractile force is specified (step S820C). Further, in step S820C, the first target pressure setting unit 121 defines one of the artificial muscles AM1 and AM2 whose contractile force is small as the first artificial muscle and the other as the second artificial muscle.
  • the first target pressure setting unit 121 sets the maximum pressure Pmax (i) predetermined for the joint Ji to the first target pressure Ptag1 of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji. Set to (i) (step S830C).
  • the maximum pressure Pmax (i) is the normal maximum pressure of the hydraulic actuator M corresponding to the joint Ji or a constant pressure close to the normal maximum pressure.
  • the first target pressure setting unit 121 determines the direction and joint of the target torque Ttag (i) acquired in step S805C. From the structure of Ji, of the artificial muscles AM1 and AM2 on one side and the other side corresponding to the joint Ji, the two arms 3 in which the driving force corresponding to the target torque Ttag (i) is connected via the joint Ji. One that outputs the reaction force to the driving force when acting on the above is defined as the first artificial muscle, and the other is defined as the second artificial muscle (step S825C).
  • the first target pressure setting unit 121 sets the minimum pressure Pmin (i) predetermined for the joint Ji to the first target pressure Ptag1 of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji. Set to (i) (step S835C).
  • the minimum pressure Pmin (i) is set so as not to exceed the pressure that enables immediate control of all hydraulic actuators M and the pressure supplied by the pump 13 when hydraulic oil is supplied to all hydraulic actuators M. Either the pressure applied or the pressure that minimizes the rigidity of the joint Ji can be used.
  • the contraction rate setting unit 107C of the target pressure setting unit 110C has the joint angle ⁇ i of the joint Ji acquired in step S805C and the specifications (of the arm 3) of the robot arm 2 (robot device 1). Based on the dimensions, etc.), the contraction rate Cr1 (i) of the two hydraulic actuators M that make up the first artificial muscle corresponding to the joint Ji, and the two liquids that make up the second artificial muscle corresponding to the joint Ji.
  • the contraction rate Cr2 (i) of the pressure actuator M is set (step S840C).
  • the contraction force derivation unit 108C of the target pressure setting unit 110C has the first target pressure Ptag1 (i) set by the first target pressure setting unit 121 and the contraction rate setting unit from the target pressure setting map shown in FIG.
  • the first contractile force Fc1 (i) corresponding to the contraction rate Cr1 (i) of the two hydraulic actuators M constituting the first artificial muscle set by 107C is derived while performing linear interpolation as appropriate (step S845C). ..
  • the contraction force derivation unit 108C constitutes a second artificial muscle corresponding to the joint Ji from the target torque Ttag (i) acquired in step S805C and the first contraction force Fc1 (i) derived in step S845C.
  • the second contraction force Fc2 (i) generated in the two hydraulic actuators M is calculated (step S850C).
  • the second target pressure setting unit 122 of the target pressure setting unit 110C has the second contraction force Fc2 (i) calculated by the contraction rate Cr2 (i) and the contraction force derivation unit 108C from the target pressure setting map of FIG.
  • the pressure corresponding to the above is derived and set to the target pressure Ptag2 (i) of the two hydraulic actuators M constituting the second artificial muscle (step S855C). This makes it possible to accurately set the target pressure Ptag2 (i) in response to the request to the robot arm 2.
  • step S865C When it is determined by the target pressure setting unit 110C that the variable i is the value N + 1 or more (step S865C: YES), the setting of the target pressures Ptag1 (i) and Ptag2 (i) of each hydraulic actuator M is completed, and the figure is shown. The processing of steps S90 and S100 of 6 is executed.
  • the control device 100C includes the target torque setting unit 105 for setting the target torque Ttag (i) for relatively rotating the two arms 3 and the like connected via the joint Ji, and the first unit.
  • a target pressure setting unit 121 and a second target pressure setting unit 122 are included.
  • the first target pressure setting unit 121 applies a maximum pressure Pmax (i) or a minimum pressure Pmin (i), which is a predetermined constant pressure, to the joint Ji according to the request to the robot device 1, that is, the target torque Ttag (i).
  • the first target pressure Ptag1 (i) of the two hydraulic actuators M constituting the first artificial muscle, which is the artificial muscle AM1 or AM2 on one side or the other side corresponding to the above, is set (step S805C-S835C in FIG.
  • the second target pressure setting unit 122 is the artificial muscle AM1 or AM2 on the other side or one side corresponding to the joint Ji based on the target torque Ttag (i) and the first target pressure Ptag1 (i).
  • the second target pressure Ptag2 (i) of the two hydraulic actuators M constituting the second artificial muscle is set (step S840C-S860C in FIG. 16).
  • the hydraulic pressure supplied to the two hydraulic actuators M constituting the first artificial muscle becomes the first target pressure Ptag1 (i), and the two hydraulic actuators constituting the second artificial muscle are formed.
  • the liquid supply device 10 is controlled so that the hydraulic pressure supplied to M becomes the second target pressure Ptag2 (i) (steps S90-S100 in FIG. 6).
  • the second artificial muscle is operated in a state where the first target pressure Ptag1 (i) of the hydraulic actuator M constituting the first artificial muscle is fixed at a constant pressure.
  • the second target pressure Ptag2 (i) of the constituent hydraulic actuator M is adjusted. This makes it possible to eliminate the interference between the hydraulic pressure control (feedback loop) supplied to the first artificial muscle and the hydraulic pressure control (feedback loop) supplied to the second artificial muscle, and excite the vibration mode. While suppressing, the hydraulic pressure supplied to the hydraulic actuators M constituting the first and second artificial muscles can be quickly made to follow the first or second target pressures Ptag1 (i) and Ptag2 (i).
  • each hydraulic actuator M is operated with high accuracy in response to a request without using a sensor for detecting the hydraulic pressure supplied to each hydraulic actuator M as an artificial muscle. It becomes possible.
  • the first target pressure setting unit 121 is the artificial muscle AM1 on one side and the other side corresponding to the joint Ji. , AM2, when the driving force corresponding to the target torque Ttag (i) acts on the two arms 3 and the like connected via the joint Ji, one of the above-mentioned first artificial ones outputs the reaction force against the driving force. It is defined as a muscle (step S825C), and the minimum pressure Pmin (i) is set to the first target pressure Ptag1 (i) (step S835C).
  • the minimum pressure Pmin (i) does not need to be fixed at all times, and is, for example, a pressure that enables immediate control of all hydraulic actuators M according to the state of the robot device 1 (robot arm 2), and all pressures.
  • a pressure set so as not to exceed the pressure supplied by the pump 13 when the hydraulic oil is supplied to the hydraulic pressure actuator M and a pressure that minimizes the rigidity of the joint Ji may be selectively used. ..
  • the first target pressure setting unit 121 corresponds to the joint Ji from the size and direction of the target torque Ttag (i).
  • the first artificial muscle one of which has a larger required contractile force is defined as the first artificial muscle (step S820C).
  • the first target pressure setting unit 121 sets the maximum pressure Pmax (i), which is the normal maximum pressure or a constant pressure close to the normal maximum pressure, to the first target pressure Ptag1 (i) (step S830C).
  • the hydraulic actuator M constituting the first artificial muscle and the second artificial muscle are configured.
  • the hydraulic actuator M constituting the pair of first and second artificial muscles suppresses the fluctuation of the hydraulic pressure supplied to both of the hydraulic actuators M and suppresses the disturbance (vibration) of the behavior of the two arms 3 and the like.
  • the target pressure setting unit 110C of the control device 100C includes a contraction rate setting unit 107C and a contraction force derivation unit 108C in addition to the first and second target pressure setting units 121 and 122.
  • the contraction rate setting unit 107C has a contraction rate Cr1 (i) of the two hydraulic actuators M constituting the first artificial muscle corresponding to the joint Ji and two hydraulic pressures constituting the second artificial muscle corresponding to the joint Ji.
  • the contraction rate Cr2 (i) of the actuator M is set (step S840C).
  • the contraction force derivation unit 108C generates a first contraction force Fc1 on the two hydraulic actuators M constituting the first artificial muscle based on the first target pressure Ptag1 (i) and the contraction rate Cr1 (i).
  • the second target pressure setting unit 122 sets the second target pressure Ptag2 (i) based on the shrinkage rate Cr2 (i) and the second contraction force Fc2 (i) (step S855C). This makes it possible to appropriately set the second target pressure Ptag2 (i) of the second artificial muscle from the target torque Ttag (i) and the first target pressure Ptag1 (i).
  • the contraction rates Cr1 (i) and Cr2 (i) may be set based on the target angle of each joint Ji according to the target position of the hand portion 4 of the robot device 1.
  • the target rigidity setting unit is omitted from the control device 100C, but the present invention is not limited to this. That is, the control device 100C may be provided with the same target rigidity setting unit as the target rigidity setting unit 106 of the control device 100, and the contraction force derivation unit 108C of the target pressure setting unit 110C has the rigidity of the joint Ji as the target rigidity.
  • the first and second contraction forces Fc1 (i) and Fc2 (i) may be corrected so as to have the target rigidity R (i) set by the setting unit. This makes it possible to generate a force according to the target torque Ttag (i) in the first and second artificial muscles while maintaining the rigidity of the joint Ji at a value required.
  • FIG. 17 is a block diagram showing another control device 100D applicable to the robot device 1.
  • the same elements as those of the control device 100 and the like described above are designated by the same reference numerals, and duplicate description will be omitted.
  • the control device 100D shown in FIG. 17 is also constructed by at least one of hardware such as a computer CPU, ROM, and RAM, and software such as a control program installed in the computer. As shown in the figure, the control device 100D has a target position setting unit 101, a current position derivation unit 102, a target torque setting unit 105 (torque calculation unit 103 and a gravity compensation unit 104), similarly to the control device 100 and the like. The target rigidity setting unit 106 and the valve drive unit 112 are included. Further, the control device 100D includes a contraction rate setting unit 107, a contraction force calculation unit 108, and a target pressure setting unit 110D including a target pressure derivation unit 109D different from that of the control device 100, and the control device 100. It includes a different current command value setting unit 111D, a volume estimation unit 118, and a flow rate estimation unit 119.
  • the contraction rate setting unit 107 of the target pressure setting unit 110D is an artificial muscle on one side corresponding to the joint Ji based on the joint angle ⁇ i of the joint Ji according to the current position of the hand unit 4 for each joint J1-J3.
  • the contraction rate Cr1 (i) of each hydraulic actuator M constituting AM1 and the contraction rate Cr2 (i) of each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji are set.
  • the contraction force calculation unit 108 of the target pressure setting unit 110D has a target torque Ttag (i) set by the target torque setting unit 105 and a target rigidity set by the target rigidity setting unit 106 for each joint J1-J3.
  • the target pressure derivation unit 109D has a target torque Ttag (2) indicating a force required for each hydraulic actuator M based on the contraction rates Cr1 (i) and Cr2 (i) and the contraction forces Fc1 (i) and Fc2 (i).
  • the target pressures Ptag1 (i) and Ptag2 (i) according to i) are configured to be changed between when the tube T contracts in the axial direction and when the tube T expands in the axial direction.
  • the volume estimation unit 118 is set by the previous value of the target pressure Ptag1 (i) set (derived) by the target pressure setting unit 110 (target pressure derivation unit 109) and the contraction rate setting unit 107 for each joint J1-J3. Based on the contraction rate Cr1 (i), the volume V1 (i) of the tube T of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji is estimated (derived). Further, the volume estimation unit 118 has the previous value of the target pressure Ptag2 (i) set (derived) by the target pressure setting unit 110 (target pressure derivation unit 109) and the contraction rate setting unit 107 for each of the joints J1-J3. Based on the contraction rate Cr2 (i) set by, the volume V2 (i) of the tube T of each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji is estimated (derived).
  • the flow rate estimation unit 119 is the artificial muscle AM1 on one side corresponding to the joint Ji based on the previous value and the current value of the volume V1 (i) estimated (derived) by the volume estimation unit 118 for each joint J1-J3.
  • the flow rate Q1 (i) of the hydraulic oil supplied to the tube T of each hydraulic actuator M constituting the above is estimated (calculated).
  • the flow rate estimation unit 119 is artificial on the other side corresponding to the joint Ji based on the previous value and the current value of the volume V2 (i) estimated (derived) by the volume estimation unit 118 for each joint J1-J3.
  • the flow rate Q2 (i) of the hydraulic oil supplied to the tube T of each hydraulic actuator M constituting the muscle AM2 is estimated (calculated).
  • the current command value setting unit 111 is one side corresponding to the joint Ji based on the target pressure Ptag1 (i) set by the target pressure setting unit 110 and the flow rate Q1 (i) estimated by the flow rate estimation unit 119.
  • a current command value (target current) for the first linear solenoid valve 151 (solenoid portion 15e) for adjusting the hydraulic pressure to each hydraulic actuator M constituting the artificial muscle AM1 is set.
  • the current command value setting unit 111 corresponds to the joint Ji based on the target pressure Ptag2 (i) set by the target pressure setting unit 110 and the flow rate Q2 (i) estimated by the flow rate estimation unit 119.
  • a current command value (target current) is set for the second linear solenoid valve 152 (solenoid portion 15e) that adjusts the hydraulic pressure to each hydraulic actuator M constituting the artificial muscle AM2 on the other side.
  • control procedure of the robot device 1 by the control device 100D will be described with reference to FIGS. 18 to 23.
  • the control procedure of the robot device 1 will be described by taking as an example a case where the hand portion 4 of the robot device 1 is moved to the gripping target and the hand portion 4 grips and transfers the gripping target.
  • the control device 100D Prior to the start of operation of the robot arm 2, the control device 100D executes the routine of FIG. 5 in the same manner as the control device 100 (before the start of movement of the hand unit 4) to reach the final target arrival position of the hand unit 4. (X r , y r , z r ) and the target trajectory of the hand unit 4 from the initial position to the target arrival position (x r , y r , z r ) are set. After setting the target arrival position and the target trajectory, the control device 100D repeatedly executes the robot arm control routine shown in FIG. 18 at predetermined time (for example, about 10 ms) in response to an execution instruction by the user. The processing of steps S10-S70 in the robot arm control routine of FIG. 18 is the same processing as the processing of steps S10-S70 in the robot arm control routine of FIG.
  • FIG. 19 is a flowchart illustrating a procedure for setting the target pressures Ptag1 (i) and Ptag2 (i) by the target pressure setting unit 110D in step S80D.
  • the target pressure setting unit 110D first sets the variable i, that is, the joint number to the value 1 (step S801).
  • the contraction force calculation unit 108 of the target pressure setting unit 110D has the target torque Ttag (i) for the joint Ji set by the target torque setting unit 105 and the target rigidity of the joint Ji set by the target rigidity setting unit 106.
  • Acquire R (i) step S802.
  • the contraction rate setting unit 107 of the target pressure setting unit 110D acquires the current joint angle ⁇ i of the joint Ji detected by the corresponding joint angle sensor 7.
  • the contraction rate setting unit 107 of the target pressure setting unit 110D that has acquired the joint angle ⁇ i sets the contraction rate Cr1 (i) of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji and the joint Ji.
  • the contraction rate Cr2 (i) of each hydraulic actuator M constituting the corresponding artificial muscle AM2 on the other side is calculated (step S803).
  • the contraction rate setting unit 107 has contraction rates Cr1 (i) and Cr2 based on the joint angle ⁇ i of the joint Ji, the specifications of the robot arm 2 (robot device 1) (dimensions of the arm 3 and the like), and the like. (I) is derived and set.
  • the contraction force calculation unit 108 of the target pressure setting unit 110D is an artificial one side corresponding to the joint Ji based on the target torque Ttag (i) acquired in step S802 and the target rigidity R (i) of the joint Ji.
  • the contraction force (tensile force) Fc1 (i) required for each hydraulic actuator M constituting the muscle AM1 and each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji are required.
  • the contraction force (tensile force) Fc2 (i) is calculated (step S804).
  • step S804 the contraction force calculation unit 108 solves the simultaneous equations for the target torque Ttag (i), the target rigidity R (i), the contraction force Fc1 (i), and the Fc2 (i) to obtain the target torque Ttag (
  • the contraction forces Fc1 (i) and Fc2 (i) corresponding to the target rigidity R (i) of i) and the joint Ji are calculated.
  • the target pressure derivation unit 109D of the target pressure setting unit 110D changes the contraction rate Cr1 (i) of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji ⁇ Cr1.
  • (I) and the change amount ⁇ Cr2 (i) of the contraction rate Cr2 (i) of each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji are acquired (step S805).
  • the amount of change ⁇ Cr1 (i) is the difference between the current value and the previous value (current value-previous value) of the shrinkage rate Cr1 (i) calculated in step S803, that is, the calculation cycle of the shrinkage rate Cr1 (i), that is, FIG.
  • the change amount ⁇ Cr2 (i) is obtained by gradually graduating the difference (current value-previous value) between the current value and the previous value of the shrinkage rate Cr2 (i) calculated in step S803 in the execution cycle dt. It is a thing.
  • the change amounts ⁇ Cr1 (i) and ⁇ Cr2 (i) are calculated by the shrinkage rate setting unit 107, and the target pressure derivation unit 109D is the change amount ⁇ Cr1 (i) and ⁇ Cr2 (from the shrinkage rate setting unit 107). i) Get.
  • the target pressure derivation unit 109D is a map for setting the target pressure Ptag1 (i) based on the sign of the change amount ⁇ Cr1 (i), as shown in the first target pressure setting map and the figure shown by the alternate long and short dash line in FIG.
  • Select one of the target pressure setting maps step S806).
  • each hydraulic actuator M of the robot device 1 includes a tube T that expands in the radial direction and contracts in the axial direction in response to an increase in the pressure of the hydraulic oil inside.
  • each hydraulic actuator M has when the tube T contracts in the axial direction and when it expands in the axial direction (when it returns to the natural length side). It has a so-called hysteresis characteristic that the contraction force generated by and is different. That is, the hydraulic pressure supplied to the tube T that contracts in the axial direction (see the alternate long and short dash line in FIG. 20) and the hydraulic pressure supplied to the tube T that extends in the axial direction (see the alternate long and short dash line in FIG. 20) are the same.
  • the first and second target pressure setting maps are tested in advance as maps showing the static characteristics of the hydraulic actuator M for setting the target pressures Ptag1 (i) and Ptag2 (i). ⁇ Prepared after analysis.
  • the first target pressure setting map defines the relationship between the contraction rate of the tube T that contracts in the axial direction and the contraction force generated by the tube T for each hydraulic pressure supplied to the tube T of the hydraulic actuator M. There is (see the alternate long and short dash line in FIG. 20).
  • the second target pressure setting map defines the relationship between the contraction rate of the tube T extending in the axial direction and the contraction force generated by the tube T for each hydraulic pressure supplied to the tube T of the hydraulic actuator M. (See the two-dot chain line in FIG. 20).
  • the first target pressure setting map considers the hysteresis characteristics of the fluid actuator M and sets the target pressures Ptag1 (i) and Ptag2 (i) when the contraction rate and the contraction force are the same. It is created to be larger than the second target pressure setting map.
  • step S806 when the target pressure derivation unit 109D has a positive sign of the change amount ⁇ Cr1 (i), that is, when the tube T of each hydraulic actuator M constituting the artificial muscle AM1 on one side is contracted.
  • the first target pressure setting map is selected and the sign of the change amount ⁇ Cr1 (i) is negative, that is, when the tube T of each hydraulic actuator M constituting the artificial muscle AM1 on one side is extended, the first 2 Select the target pressure setting map.
  • step S806 in the target pressure derivation unit 109D, when the sign of the change amount ⁇ Cr2 (i) is positive, that is, the tube T of each hydraulic actuator M constituting the artificial muscle AM2 on the other side is contracted.
  • the first target pressure setting map is selected and the sign of the change amount ⁇ Cr2 (i) is negative, that is, when the tube T of each hydraulic actuator M constituting the artificial muscle AM2 on the other side is extended.
  • Select the second target pressure setting map when the target pressure derivation unit 109
  • the target pressure derivation unit 109D has the shrinkage rate Cr1 (i) calculated in step S803 from the first or second target pressure setting map selected according to the sign of the change amount ⁇ Cr1 (i) and the shrinkage rate Cr1 (i) in step S804.
  • the target pressure Ptag1 (i) of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji by deriving the pressure corresponding to the calculated contraction force Fc1 (i) while performing linear interpolation as appropriate. (Step S807).
  • the target pressure derivation unit 109D has the shrinkage rate Cr1 (i) calculated in step S803 from the first or second target pressure setting map selected according to the sign of the change amount ⁇ Cr2 (i).
  • the pressure corresponding to the contraction force Fc1 (i) calculated in step S804 is derived while performing linear interpolation as appropriate, and the target pressure of each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji. Set to Ptag2 (i).
  • the target pressures Ptag1 (i) and Ptag2 are set to the pressures corresponding to the contraction rates Cr1 (i) and Cr2 (i) and the contraction forces Fc1 (i) and Fc2 (i) of the tube T in consideration of the hysteresis characteristics.
  • By setting to (i) it becomes possible to accurately set the target pressures Ptag1 (i) and Ptag2 (i) in response to the request to the robot arm 2.
  • the target pressure setting unit 110D increments the variable i (step S808) and determines whether or not the variable i is a value N + 1 or more. Determination (step S809).
  • the target pressure setting unit 110D determines that the variable i is less than the value N + 1 (step S809: NO)
  • the process of the above steps S802-S809 is executed again.
  • step S809 YES
  • the setting of the target pressures Ptag1 (i) and Ptag2 (i) of each hydraulic actuator M is completed. ..
  • the control device 100D is artificial on one side for each joint J1-J3 after setting the target pressures Ptag1 (i) and Ptag2 (i) or partially in parallel with step S80D.
  • FIG. 21 is a flowchart illustrating the estimation procedure of the flow rates Q1 (i) and Q2 (i) in step S85.
  • the volume estimation unit 118 of the control device 100D first sets the variable i, that is, the joint number to the value 1 in order to estimate the flow rates Q1 (i) and Q2 (i) (step S851). ).
  • the volume estimation unit 118 has the target pressures Ptag1 (i) and Ptag2 (i), that is, the target, for the joint Ji set by the target pressure setting unit 110D at the time of the previous execution of the robot arm control routine of FIG.
  • the previous values of the pressures Ptag1 (i) and Ptag2 (i) and the shrinkage rates Cr1 (i) and Cr2 (i) set by the shrinkage rate setting unit 107 in step S803 of FIG. 19 are acquired (step S852). ..
  • the previous values of the target pressures Ptag1 (i) and Ptag2 (i) are the current hydraulic pressure in the tube T of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji, or the artificial muscle on the other side. It is used to indicate the current hydraulic pressure in the tube T of each hydraulic actuator M constituting AM2.
  • the volume estimation unit 118 uses the volume estimation map illustrated in FIG. 22 to obtain the volume V1 (i) of the tube T of each hydraulic actuator M constituting the artificial muscle AM1 on one side corresponding to the joint Ji.
  • the volume V2 (i) of the tube T of each hydraulic actuator M constituting the artificial muscle AM2 on the other side corresponding to the joint Ji is estimated (step S853).
  • the volume estimation map is experimentally and analyzed in advance so as to define the relationship between the pressure (internal pressure) of the hydraulic oil in the tube T and the volume of the tube T for each contraction rate of the tube T. It was created through.
  • step S853 the volume estimation unit 118 appropriately performs linear interpolation from the volume estimation map, and sets the volume corresponding to the previous value of the target pressure Ptag1 (i) and the shrinkage rate Cr1 (i) acquired in step S852 as the volume V1 ( Derived as i). Further, in step S853, the volume estimation unit 118 sets the volume corresponding to the previous value of the target pressure Ptag2 (i) and the shrinkage rate Cr2 (i) acquired in step S852 while performing linear interpolation as appropriate from the volume estimation map. It is derived as the volume V2 (i).
  • step S854 the flow rate estimation unit 119 estimates the current values of the volumes V1 (i) and V2 (i) estimated by the volume estimation unit 118 in step S853, and the volume estimation at the time of the previous execution of the robot arm control routine of FIG.
  • step S856 determines that the variable i is the value N + 1 or more (step S856: YES)
  • the flow rates of the hydraulic oil supplied to the tube T of each hydraulic actuator M Q1 (i), Q2 step S856: YES). i) The estimation is completed.
  • the control device 100D sets the current command value for the solenoid units 15e of the plurality of first and second linear solenoid valves 151 and 152, respectively, using the current command value setting map illustrated in FIG. 23 (step). S90D).
  • the current command value setting map shows the flow rate of the hydraulic oil supplied to the tube T (Q1 (i), Q2 (i)) and the tube for each current value applied to the electromagnetic part 15e.
  • the current command value setting map becomes the same target pressure Ptag1 (i), Ptag2 (i) as the flow rate (Q1 (i), Q2 (i)) increases (as the flow rate changes from negative to positive). Created to increase the corresponding current value.
  • the current command value setting unit 111D has a current value corresponding to the target pressure Ptag1 (i) set in step S80D from the current command value setting map and the flow rate Q1 (i) estimated in step S85. Is derived while performing linear interpolation as appropriate, and is set to the current command value to each first linear solenoid valve 151 corresponding to each hydraulic actuator M constituting the artificial muscle AM1 on one side. Further, in step S90D, the current command value setting unit 111D corresponds to the target pressure Ptag2 (i) set in step S80D from the current command value setting map and the flow rate Q2 (i) estimated in step S85.
  • the current value is derived while performing linear interpolation as appropriate, and is set to the current command value to each second linear solenoid valve 152 corresponding to each hydraulic actuator M constituting the artificial muscle AM2 on the other side.
  • the current command value derived by the current command value setting unit 111D is given to the valve drive unit 112 of the control device 100D, and the valve drive unit 112 has a plurality of first and second linear solenoids, respectively, based on the current command.
  • the valves 151 and 152 are controlled (PWM control) (step S100).
  • the current command value to the liquid supply device 10 according to the target torque Ttag (i) is easily and quickly set, and the first and second linears of the liquid supply device 10 are controlled based on the current command value.
  • Each of the solenoid valves 151 and 152 produces a hydraulic pressure corresponding to the corresponding target pressure Ptag1 (i) or Ptag2 (i).
  • the hydraulic oil regulated by each of the first and second linear solenoid valves 151 and 152 is supplied to the tube T of the corresponding hydraulic actuator M.
  • the flow rate control valve adjusts the flow rate of the hydraulic oil and supplies it into the tube T, or the hydraulic pressure supplied to the tube T is detected by the pressure sensor so that the actual hydraulic pressure matches the target pressure.
  • the hydraulic pressure supplied to each tube T within a short time from the setting of the target pressures Ptag1 (i) and Ptag2 (i) is applied to the target pressures Ptag1 (i) and Ptag2 (i), as compared with the case of feedback control. It is possible to substantially match i) so that the actual shrinkage rate of each tube T can be made to follow the required value with good responsiveness and high accuracy.
  • step S100 the control device 100D temporarily terminates the routine of FIG. 18 and executes the process of step S10 and subsequent steps again according to the arrival of the next execution timing.
  • step S40 of FIG. 22 when it is determined by the torque calculation unit 103 that the current position of the hand unit 4 has not substantially changed from the previous position, it is determined after the current position does not substantially change.
  • the processes of steps S65 and S70-S100 are executed until the time elapses.
  • the control device 100D terminates the routine of FIG. 18 and executes a hand control routine for causing the hand unit 4 to grip the gripping object when a predetermined time has elapsed after the current position does not substantially change.
  • the control device 100D re-executes the routine of FIG. 18 in order to convey the gripping target to the mounting position by the robot arm 2.
  • the control device 100D sets the target pressures Ptag1 (i) and Ptag2 (i) of the hydraulic oil supplied to each hydraulic actuator M (step S80D in FIG. 18 and FIG. 19), and the target pressure.
  • the current command value is set based on Ptag1 (i) and Ptag2 (i) and the flow rates Q1 (i) and Q2 (i) of the hydraulic oil supplied to each hydraulic actuator M (step S90D in FIG. 18).
  • Each of the first and second linear solenoid valves 151 and 152 is controlled based on the current command value (step S100 in FIG. 18).
  • each The hydraulic oil having a pressure corresponding to the target pressures Ptag1 (i) and Ptag2 (i) can be supplied to the hydraulic actuator M. That is, according to the research and analysis by the present inventors, the current command value is set based on the target pressures Ptag1 (i) and Ptag2 (i) and the flow rates Q1 (i) and Q2 (i).
  • the responsiveness of the operation of each hydraulic pressure actuator M Compared with the case where the target pressures Ptag1 (i) and Ptag2 (i) are directly converted into the current command value without considering the flow rates Q1 (i) and Q2 (i), the responsiveness of the operation of each hydraulic pressure actuator M and It has been confirmed that the followability of the hydraulic pressure in each tube T to the target pressures Ptag1 (i) and Ptag2 (i) can be improved.
  • the robot device 1 including the control device 100D it is possible to operate a plurality of hydraulic actuators M that are operated by receiving the supply of hydraulic oil with good responsiveness and high accuracy, and the robot arm 2 is responsive and stable. Can be activated.
  • each hydraulic actuator M of the robot device 1 includes a tube T to which hydraulic oil is supplied to the inside and contracts in the axial direction while expanding in the radial direction in response to an increase in internal pressure.
  • the flow rate estimation unit 119 of the control device 100D calculates the volume change amount (dV1 / dt, dV2 / dt) of the tube T as the flow rates Q1 (i) and Q2 (i) (steps S85 and 20 in FIG. 18).
  • the current command value setting unit 111D of the control device 100D has a current command value for each first linear solenoid valve 151 corresponding to the artificial muscle AM1 on one side based on the target pressure Ptag1 (i) and the flow rate Q1 (i).
  • the current command value for each second linear solenoid valve 152 corresponding to the artificial muscle AM2 on the other side based on the target pressure Ptag2 (i) and the flow rate Q2 (i) (step S90D in FIG. 18). ).
  • the current command value is appropriately set according to the flow rates Q1 (i) and Q2 (i) of the hydraulic oil supplied to each hydraulic actuator M, and the first and second linear solenoid valves 151 and 152 are set. It is possible to accurately adjust the pressure of the hydraulic oil supplied to each hydraulic actuator M so as to be the target pressures Ptag1 (i) and Ptag2 (i).
  • control device 100D repeatedly executes the robot arm control routine of FIG. 18 at predetermined time (for example, about 10 ms) to set the target pressures Ptag1 (i) and Ptag2 (i). Further, the volume estimation unit 118 of the control device 100D is based on the previous values of the target pressures Ptag1 (i) and Ptag2 (i) and the shrinkage rates Cr1 (i) and Cr2 (i) of the tube T this time. Volumes V1 (i) and V2 (i) are calculated (step S85 in FIG. 18, steps S852 and S853 in FIG. 21).
  • the flow rate estimation unit 119 of the control device 100D divides the difference between the current value and the previous value of the volumes V1 (i) and V2 (i) of the tube T by the predetermined time (execution cycle dt of the routine in FIG. 8). Then, the flow rates Q1 (i) and Q2 (i) are calculated (step S85 in FIG. 8 and step S854 in FIG. 21). This makes it possible to appropriately calculate the flow rates Q1 (i) and Q2 (i) of the hydraulic oil supplied to each hydraulic actuator M.
  • the target pressure setting unit 110D of the control device 100D sets the target pressures Ptag1 (i) and Ptag2 (i) according to the target torque Ttag (i) indicating the force required for each hydraulic actuator M by the tube T. It is changed between when it contracts in the axial direction and when the tube T expands in the axial direction (steps S805-S807 in FIG. 19). This makes it possible to satisfactorily suppress the deviation between the force (torque) output from each hydraulic actuator M and the required force (torque) due to the hysteresis characteristic.
  • the target pressure derivation unit 109D of the target pressure setting unit 110D has the target pressures Ptag1 (i) and Ptag2 based on the contraction rates Cr1 (i) and Cr2 (i) and the contraction forces Fc1 (i) and Fc2 (i). (I) is derived and set (step S807 in FIG. 19). Further, the target pressure derivation unit 109D of the hydraulic oil supplied to the tube T when the changes in the shrinkage rates Cr1 (i) and Cr2 (i) ⁇ Cr1 (i) and ⁇ Cr2 (i) are positive values.
  • a first target pressure setting map (first target pressure setting map) that defines the relationship between the contraction rates Cr1 (i) and Cr2 (i) of the tube T that contracts in the axial direction for each pressure and the contraction forces Fc1 (i) and Fc2 (i).
  • the target pressures Ptag1 (i) and Ptag2 (i) are set using the constraint) (steps S805-S807 in FIG. 19). Further, the target pressure derivation unit 109D contracts the tube T that extends axially according to the pressure of the hydraulic oil supplied to the tube T when the changes ⁇ Cr1 (i) and ⁇ Cr2 (i) are negative values.
  • the target pressure Ptag1 (i), using the second target pressure setting map (second constraint) that defines the relationship between the rates Cr1 (i), Cr2 (i) and the contraction forces Fc1 (i), Fc2 (i), Ptag2 (i) is set (steps S805-S807 in FIG. 19).
  • the contraction rate setting unit 107 of the tube T has contraction rates Cr1 (i) and Cr2 (i) based on the target angle of each joint Ji according to the target position of the hand unit 4 (robot device 1). ) May be set.
  • the robot apparatus includes at least one artificial muscle (M, AM1, AM2) that operates by receiving a liquid supply, and the artificial muscle (M, AM1, AM2).
  • a robot device (1) including a liquid supply device (10) for supplying the liquid, the target driving force (Ttag (i)) for driving the robot device (1) is set, and the above.
  • the target pressure of the liquid supplied to the artificial muscles (M, AM1, AM2) is set based on the target driving force (Ttag (i)), and the liquid supply device (10) is controlled based on the target pressure. It includes a control device (100, 100B, 100C, 100D).
  • the artificial muscle can be responsive to the demand and highly accurate without using a sensor that detects the pressure of the liquid. It becomes possible to operate.
  • control device (100, 100B, 100C, 100D) is a target driving force setting unit that sets the target driving force (Ttag (i)) based on the target position and the current position of the robot device (1).
  • the target pressure (Ptag1 (i), Ptag2 (i)) is set based on (105) and the target driving force (Ttag (i)) set by the target driving force setting unit (105).
  • the target driving force setting unit (105) maintains the driving force (Tj (i)) for moving the robot device from the current position to the target position and the posture of the robot device (1).
  • the sum with the required gravity compensation amount (Tc (i)) may be set to the target driving force (Ttag (i)).
  • the target pressure setting unit (110) has a contraction rate (Cr1 (i), Cr2 (Cr1 (i), Cr2 () of the artificial muscle (M, AM1, AM2) based on the current position or the target position of the robot device (1).
  • i)) is set, and the contraction force (Fc1 (Fc1 (Fc1)) of the artificial muscle (M, AM1, AM2) is set based on the target driving force (Ttag (i)) set by the target driving force setting unit (105).
  • i), Fc2 (i)) is calculated, and the target pressure (Ptag1) is calculated based on the shrinkage rate (Cr1 (i), Cr2 (i)) and the shrinkage force (Fc1 (i), Fc2 (i)).
  • I), Ptag2 (i)) may be set.
  • the robot device (1) may include at least one joint (J1, J2, J3, Ji) and a plurality of links (3, 5), and the artificial muscle (M, AM1) may be included.
  • AM2) may be those that relatively rotate the two links (3, 5) connected via the joints (J1, J2, J3, Ji), and the target driving force (, AM2).
  • the Ttag (i)) may be the target value of the joint torque (Tj (i)) that relatively rotates the two links (3, 4).
  • the two links (3, 5) may be relatively rotated by a pair of artificial muscles (M, AM1, AM2) arranged so as to antagonize each other.
  • the robot device (1) is connected via joints (J1, J2, J3, Ji) and is relatively rotated by a pair of the artificial muscles (M, AM1, AM2) 2
  • the control device (100B) may include one link, and the control device (100B) sets a target torque (Ttag (i)) for relatively rotating the two links (3, 5) as the target driving force.
  • the first contraction force (Fc1 (i)) generated in the first artificial muscle, which is one of the pair of artificial muscles (M, AM1, AM2) is set as the target torque (Ttag (i). )
  • the second contraction force (Fc2 (i)) generated in the second artificial muscle which is the other of the pair of the artificial muscles (M, AM1, AM2) based on the first contraction force (Fc1 (i)). ))
  • So that the first artificial muscle generates the first contraction force (Fc1 (i))
  • the second artificial muscle generates the second contraction force (Fc2 (i)). It may control the liquid supply device (10).
  • the target torque for relatively rotating the two links and the first contraction force generated in the first artificial muscle are determined, the target torque and the first contraction force are converted into the second artificial muscle.
  • the second contraction force to be generated can be determined. Then, by reducing the first contractile force and increasing the second contractile force, the first and second artificial muscles are responsively and highly responsive so as to output the required force while suppressing the increase in the rigidity of the joint. It is possible to operate with high accuracy. Further, by increasing the first contraction force, the second contraction force also increases according to the target torque, so that the rigidity of the joint can be increased and the operation of the robot device can be stabilized. As a result, the robot device can be operated responsively and stably.
  • the control device (100B) has a contraction rate (Cr1 (Cr1 (Cr1)) of the first and second artificial muscles based on the joint angles ( ⁇ 1, ⁇ 2, ⁇ 3, ⁇ i) of the joints (J1, J2, J3, Ji).
  • the second contraction force is based on the contraction rate setting unit (107B) that sets i) and Cr2 (i), the target torque (Ttag (i)), and the first contraction force (Fc1 (i)).
  • (Fc2 (i)) is calculated based on the contraction force calculation unit (108B), the first contraction force (Fc1 (i)), and the contraction rate (Cr1 (i)) of the first artificial muscle.
  • the target pressure (Ptag1 (i)) of the liquid supplied to the first artificial muscle is set, and the second contraction force (Fc2 (i)) and the contraction rate of the second artificial muscle (Cr2 (i)) are set.
  • the robot device (1) is connected via joints (J1, J2, J3, Ji) and is relatively rotated by the pair of artificial muscles (M, AM1, AM2) 2
  • the control device (100C) may include one link (3, 5), and the control device (100C) has a target torque (Ttag (i)) for relatively rotating the two links (3, 5).
  • the first artificial muscle (M, AM1, AM2) which is one of the pair of artificial muscles (M, AM1, AM2), has a target torque setting unit (105) for setting and a predetermined constant pressure (Pmax (i), Pmin (i)).
  • the first target pressure setting unit (121) set to the first target pressure (Ptag1 (i)), which is the target value of the pressure of the liquid supplied to the muscle, the target torque (Ttag (i)), and the first target.
  • the second target pressure which is the target value of the pressure of the liquid supplied to the second artificial muscle which is the other of the pair of artificial muscles (M, AM1, AM2) based on the one target pressure (Ptag1 (i)).
  • a second target pressure setting unit (122) for setting (Ptag2 (i)) is included, and the pressure of the liquid supplied to the first artificial muscle becomes the first target pressure (Ptag1 (i)).
  • the liquid supply device (10) may be controlled so that the pressure of the liquid supplied to the second artificial muscle becomes the second target pressure (Ptag2 (i)).
  • control device (100C) has a contraction rate (Cr1 (Cr1 (Cr1)) of the first and second artificial muscles based on the joint angles ( ⁇ 1, ⁇ 2, ⁇ 3, ⁇ i) of the joints (J1, J2, J3, Ji). i) Based on the contraction rate setting unit (107C) that sets Cr2 (i)), the first target pressure (Ptag1 (i)), and the contraction rate (Cr1 (i)) of the first artificial muscle. The first contraction force (Fc1 (i)) generated in the first artificial muscle is derived, and the target torque (Ttag (i)) and the first contraction force (Fc1 (i)) are used to derive the second contraction force (Fc1 (i)).
  • It may include a contraction force deriving unit (108C) for calculating a second contraction force (Fc2 (i)) generated in the artificial muscle
  • the second target pressure setting unit (122) may include the second contraction force setting unit (122).
  • the second target pressure (Ptag2 (i)) may be set based on the contraction rate (Cr2 (i)) and the second contraction force (Fc2 (i)) of the artificial muscle.
  • the first target pressure setting unit (121) has a large contraction force required of the pair of artificial muscles (M, AM1, AM2) from the size and direction of the target torque (Ttag (i)).
  • One of them may be defined as the first artificial muscle, and the normal maximum pressure or a constant pressure (Pmax (i)) close to the normal maximum pressure may be set as the first target pressure (Ptag1 (i)). ..
  • the contraction force of the pair of artificial muscles (M, AM1, AM2) becomes smaller depending on the magnitude and direction of the target torque (Ttag (i)). It may be defined as one artificial muscle and the other as the second artificial muscle.
  • control device (100B, 100C) sets the target rigidity (R (i)) of the joints (J1, J2, J3, Ji), and the first unit according to the target torque (Ttag (i)).
  • the relationship between the first and second contractile forces (Fc1 (i), Fc2 (i)) is maintained, and the rigidity of the joints (J1, J2, J3, Ji) becomes the target rigidity (R (i)).
  • the first and second contractile forces (Fc1 (i), Fc2 (i)) may be corrected. This makes it possible to generate a force according to the target torque in the first and second artificial muscles while maintaining the rigidity of the joint at a value required.
  • the artificial muscle (M) includes a tube (T) to which the liquid is supplied to the inside and contracts in the axial direction while expanding in the radial direction in response to an increase in the pressure inside the artificial muscle (M). good.
  • the tube (T) applies the target pressures (Ptag1 (i), Ptag2 (i)) according to the force required for the artificial muscles (M, AM1, AM2). It may be changed between when the tube (T) contracts in the axial direction and when the tube (T) expands in the axial direction.
  • the liquid supply device (10) includes a hydraulic pressure adjusting device (151, 152) that adjusts the pressure of the liquid that is supplied to the artificial muscles (M, AM1, AM2) by receiving an electric current. May be.
  • control device (100D) has the target pressures (Ptag1 (i), Ptag2 (i)) and the flow rate of the liquid supplied to the artificial muscles (M, AM1, AM2) (Q1 (i),
  • the current command value may be set based on Q2 (i)), and the hydraulic pressure adjusting device (151, 152) may be controlled based on the current command value.
  • the hydraulic pressure adjusting device includes a solenoid portion (15e), a spool (15s), a spring (SP) for urging the spool (15s), an input port (15i) to which the liquid is supplied, and an output port (15o).
  • the solenoid valve (151, 152) may be the thrust generated by the solenoid portion (15e), the urging force of the spring (SP), and the feedback port (15f) from the output port (15o). ),
  • the pressure of the liquid may be adjusted by balancing the thrust applied to the spool (15s) by the action of the hydraulic pressure supplied to the spool (15s).
  • the method for controlling a robot device is a method for controlling a robot device including at least one artificial muscle that operates by receiving a liquid supply and a liquid supply device that supplies the liquid to the artificial muscle. Therefore, a target driving force for driving the robot device is set, a target pressure of the liquid supplied to the artificial muscle is set based on the target driving force, and the liquid supply is performed based on the target pressure. It controls the device.
  • the invention of the present disclosure can be used in the manufacturing industry of robot devices including artificial muscles.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente divulgation concerne un dispositif robot, comprenant au moins un muscle artificiel qui fonctionne par réception d'une alimentation en liquide, un dispositif d'alimentation en liquide qui fournit le liquide au muscle artificiel, et un dispositif de commande. Le dispositif de commande définit une force d'entraînement cible pour l'entraînement du dispositif robot, définit une pression cible pour le liquide fourni au muscle artificiel sur la base de la force d'entraînement cible, et commande le dispositif d'alimentation en liquide sur la base de la pression cible définie. Il est ainsi possible de faire fonctionner, avec une précision élevée et une bonne réactivité, un muscle artificiel qui fonctionne par réception d'une alimentation en liquide.
PCT/JP2021/033572 2020-09-14 2021-09-13 Dispositif robot et son procédé de commande WO2022054948A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006018791A (ja) * 2004-06-04 2006-01-19 Matsushita Electric Ind Co Ltd 弾性体アクチュエータ駆動型可動機構の制御装置及び制御方法
CN101537621A (zh) * 2009-04-16 2009-09-23 北京理工大学 气动混联机构的三自由度运动模拟器
JP2014057626A (ja) * 2012-09-14 2014-04-03 Advanced Telecommunication Research Institute International パワーアシストロボット
JP2019088456A (ja) * 2017-11-14 2019-06-13 株式会社国際電気通信基礎技術研究所 パワーアシスト装置およびパワーアシスト装置の制御方法
JP2019126668A (ja) * 2018-01-26 2019-08-01 学校法人 中央大学 アシスト装置の制御方法及びアシスト装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006018791A (ja) * 2004-06-04 2006-01-19 Matsushita Electric Ind Co Ltd 弾性体アクチュエータ駆動型可動機構の制御装置及び制御方法
CN101537621A (zh) * 2009-04-16 2009-09-23 北京理工大学 气动混联机构的三自由度运动模拟器
JP2014057626A (ja) * 2012-09-14 2014-04-03 Advanced Telecommunication Research Institute International パワーアシストロボット
JP2019088456A (ja) * 2017-11-14 2019-06-13 株式会社国際電気通信基礎技術研究所 パワーアシスト装置およびパワーアシスト装置の制御方法
JP2019126668A (ja) * 2018-01-26 2019-08-01 学校法人 中央大学 アシスト装置の制御方法及びアシスト装置

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