JPH01310875A - Remote operation of double arm manipulator - Google Patents

Abstract

PURPOSE:To lighten the burden in operation by shifting one slave manipulator so as to follow the other slave manipulator which is controlled by a master manipulator among two units of slave manipulators, through program control. CONSTITUTION:A double arm manipulator 3 is formed from two units of slave manipulators 2B and 2L. One slave manipulator 2B among these slave manipulators is bilateral-controlled through a bilateral control system by a master manipulator 1. The other slave manipulator 2L is program-controlled by a program control system 6 so as to follow the slave manipulator 2B. Through this program control, the need of reprogramming is obviated, even if the working environment changes and the operation position is changed, if the programs are prepared previously according to the kinds of the works.

Description

[Detailed Description of the Invention] 4 Required Regarding a method for remote control of a dual-arm manipulator, an object of the present invention is to provide a method for remote control of a dual-arm manipulator that can reduce the burden on the operator. In a remote control method for a dual-arm slave manipulator, one slave manipulator is controlled laterally by a master manipulator, and the other slave manipulator is controlled in advance by a slave manipulator controlled by the master manipulator.
It is configured to move under program control so as to follow the manipulator.

INDUSTRIAL APPLICATION FIELD The present invention relates to a remote control method for a dual-arm manipulator, ie, a remote control method for causing two manipulators to perform a desired task.

The so-called mask-slave manipulator, which allows a manipulator to perform work by remote control by a human, has been considered and implemented in places where there are various restrictions on direct work by humans, such as inside nuclear reactors, under the sea, and on the ocean floor. There is.

Furthermore, in recent years, consideration has been given to conducting science and engineering experiments in outer space using environments such as microgravity and vacuum.
In view of safety, energy/resource issues, work efficiency, etc., it is desirable to perform work in outer space using remote-controlled manipulators. In this way, when using remote-controlled manipulators to replace human work or expand the range of activities, the tasks that the manipulators are asked to perform tend to become more and more complex.
The adoption of a dual-arm manipulator is being considered.

Conventional technology There are three basic types of control methods for mask slave manipulators: symmetrical type, force reverse feed type, and force feedback type. Lateral control tends to be used frequently. A block diagram of a typical force feedback type bilateral control is shown in FIG. A multi-joint arm is used for the master manipulator 10m and slave manipulator IO3, and the part corresponding to the wrist between the multi-joint arm and the end effector (hunt) has three directions of force applied to the end effector and their directions. A 6-axis force sensor that can detect the moment around the axis is installed. Further, the angle and angular velocity of each joint of the manipulator are detected by an angle sensor such as a Lochly encoder, and a velocity generator such as an angular deviation signal subtracter, a differentiator, and a state observer.

In the method shown in Figure 5, the force applied to the end effector on the mask side (operating force) and the force detected by the end effector on the slave side (reaction force) are added together to eliminate the force generation. Move the master manipulator in the direction you want. The slave manipulator operates based on the position command value sent from the operation of the mask. However, in this method, the loop from the mask position command to the force feedback of the slave is connected in series, which tends to cause a large phase delay in control information, which causes a deterioration in the stability of the system.

A parallel bilateral control method has been proposed as a method to improve this drawback. FIG. 6 shows a block diagram of this method. In this method, the mask control system adds its own operating force and the reaction force on the slave side, and the speed command value generation unit 11 calculates a common speed command value for moving each manipulator tip, and then the mask control system The system and the slave control system simultaneously calculate the joint angular velocity to achieve this movement speed, and drive the respective manipulators by commanding the joint angular velocity to the servo amplifier.

When controlling a double-armed slave manipulator, prepare two sets of mask slave manipulators as described above and configure them as shown in FIG. 7, and the operator operates each slave manipulator separately with both arms. was being carried out. That is, slave manipulator 10s
A dual-arm manipulator 12 is constructed with the two arm manipulators 10m1 and 10s2, and the operator operates the master manipulators 10m1 and 10m2 to control the bilateral control system 14. ．． 142, the slave manipulators 10sl and 10s2 are operated separately.

Problems to be Solved by the Invention However, when an operator separately remotely controls a dual-armed slave manipulator using both arms, there is an advantage that each manipulator can operate according to the dexterity of the human. , there is a problem in that skill is required to operate the dual-arm manipulator because it places a heavy burden on the operator.

The present invention has been made in view of these points, and an object of the present invention is to provide a method for remotely operating a dual-arm manifold slave that can reduce the operating burden.

Means to solve problems FIG. 1 is a block diagram of the principle of the present invention.

The slave manipulator 2B and the slave manipulator 2L constitute a dual-arm manipulator 3. One slave manipulator 2B is controlled hierarchically by the master manipulator 1 via the bilateral control system 4, and the other slave manipulator 2L is made to follow the slave manipulator 2B controlled in advance by the master manipulator 1. It is configured to be program controlled by a program control system 6.

Function According to the present invention, since the operator can operate the dual-arm manipulator 3 with one arm, the operational burden on the operator can be reduced. In addition, the program for the slave manipulator 2L is a program that follows the slave manipulator 2B, which is controlled in a hierarchical manner, so if you prepare a program in advance according to the type of work, the operation position will change when the work environment changes. There is no need to create a new program.

Embodiments The present invention will be explained in detail below based on embodiments shown in the drawings.

Figure 2 shows a configuration diagram of an embodiment of the present invention.
The manipulator 20 includes a multi-joint arm 22 having an angle sensor attached to each joint, and a handle 24 attached to the tip of the multi-joint arm. One slave manipulator 26B has a multi-joint arm 28 with an angle sensor attached to each joint, and a hand 30 attached to the tip of the multi-joint arm 28, as shown in a perspective view in FIG. and an articulated arm 28
A force sensor 32 is provided between the hand 30 and the hand 30 to detect forces in three directions and moments around the axis in those directions. The other slave manipulator 26L is configured similarly to the slave manipulator 26B described above, and both slave manipulators constitute a dual-arm manipulator.

On the other hand, the noslave manipulator 26B is bilaterally controlled by the master manipulator 20 via the bilateral control system 34. On the other hand, the other slave manipulator 26L is program-controlled by the program control system 36 so as to follow the movement of the slave manipulator 26B. 38 is a CRT, and 40 is a keyboard.

Program-controlled slave manipulator 26L
An example of a control flowchart is shown in FIG. This program is used when moving an object by holding it between the bilaterally controlled slave manipulator 26B and the program controlled slave manipulator 26L.

First, in step 101, the magnitude and direction of the force applied to the hand are measured, and in step 102, it is determined whether the force is the specified force or not. If the force is not the specified force, the difference between the current force and the specified force is determined. Step 103: Convert the value into a position command value.
), a current is applied to the motor of the manipulator to drive the manipulator (step 104). Next, steps 101 and 102 are repeated again, and if the instructed force is being exerted, the process proceeds to step 105 to determine whether the work has been completed, and steps 101 to 105 are continued until the work is completed.
repeat.

This program controls the slave manipulator 26L, and when a human moves the slave manipulator 26B using the master manipulator 20, the slave manipulator 26L pulls when pushed and pushes when pulled, dropping an object. It will automatically follow you so that you don't have to worry about it. Since the slave manipulator 26B, which is bilaterally controlled, determines the trajectory along which the object is to be moved, even if there is an obstacle, it can be avoided by human judgment.

Effects of the Invention According to the present invention, the operator only needs to control the trajectory of one of the two slave manipulators, and can perform the work more easily than when controlling both slave manipulators.

By programming a slave manipulator controlled by a robot language to operate according to a slave manipulator controlled by a human, the same program can be used for various tasks, so there is no need to reprogram even if the task changes depending on the situation. do not have.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the principle of the present invention, Fig. 2 is a configuration diagram of an embodiment of the present invention, Fig. 3 is an external perspective view of a slave manipulator, Fig. 4 is a control flow chart of a program-controlled manipulator, and Fig. 5 is a block diagram of the principle of the present invention. The figure is a block diagram of a conventional serial type high lateral control system (force feedback type). Figure 6 is a block diagram of a conventional parallel type high lateral control system. Figure 7 is the configuration of a conventional dual-arm manipulator remote control system. It is a diagram. 1.20...Master manipulator, 2B, 2L,
26B, 26L... Slave manipulator 4.34... Hilateral control system, 6.36... Program control system.

Claims (1)

[Claims] In a remote control method for a dual-arm slave manipulator consisting of two multi-jointed arms, one slave manipulator (2B) is bilaterally controlled by a master manipulator (1), and the other slave manipulator (2B) is controlled bilaterally by a master manipulator (1), A method for remotely controlling a dual-arm manipulator, characterized in that the manipulator (2L) is moved in advance under program control so as to follow a slave manipulator (2B) controlled by the master manipulator (1).