JPH02104987U - - Google Patents
Info
- Publication number
- JPH02104987U JPH02104987U JP1305189U JP1305189U JPH02104987U JP H02104987 U JPH02104987 U JP H02104987U JP 1305189 U JP1305189 U JP 1305189U JP 1305189 U JP1305189 U JP 1305189U JP H02104987 U JPH02104987 U JP H02104987U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- master
- compensation
- torque
- master arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002146 bilateral effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
Landscapes
- Control Of Position Or Direction (AREA)
Description
第１図は本考案の実施例を示すブロツク図、第
２図は従来技術を示すブロツク図である。
図面中、１はマスタアーム、２，５はトルク検
出器、３，６は位置検出器、７は位置調節器、８
，１１は摩擦補償演算器、９は自重補償演算器、
１０はトルク調節器、１２は摩擦補償ゲイン可変
器である。
FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional technique. In the drawing, 1 is a master arm, 2 and 5 are torque detectors, 3 and 6 are position detectors, 7 is a position adjuster, and 8
, 11 is a friction compensation calculator, 9 is a self-weight compensation calculator,
10 is a torque adjuster, and 12 is a friction compensation gain variable device.
Claims (1)
作動し、しかもスレーブアームに作用する力が反
力としてマスタアームに生ずる力帰還型のバイラ
テラルマスタ・スレーブマニプレータであつて、 マスタアームに生じたトルクを示すトルク信号
ＴＭを増幅して摩擦補償トルク信号γＴＭとして
出力する摩擦補償演算器と、 マスタアームの姿勢に応じてマスタアームの自
重を補償すべく値が変化する自重補償値βを出力
する自重補償演算器と、 スレーブアームに生じたトルクを示すトルク信
号ＴＳと摩擦補償トルク信号γＴＭとの偏差Δτ
に、自重補償値βを加えた値に応じてマスタアー
ムに反力を生じさせるトルク調節器とを有するも
のにおいて、 自重補償演算器で得た自重補償値βに応じて、
摩擦補償演算器のゲインγを変化させる摩擦補償
ゲイン可変器を具えたことを特徴とするバイラテ
ラルマスタ・スレーブマニプレータ。[Claims for Utility Model Registration] A force feedback type bilateral master/slave manipulator in which the slave arm operates in response to the movement of the master arm, and the force acting on the slave arm is generated in the master arm as a reaction force, A friction compensation calculator that amplifies the torque signal TM indicating the torque generated in the master arm and outputs it as a friction compensation torque signal γTM; and dead weight compensation whose value changes to compensate for the master arm's own weight according to the master arm's posture. A self-weight compensation calculator that outputs the value β, and a deviation Δτ between the torque signal TS indicating the torque generated in the slave arm and the friction compensation torque signal γTM.
and a torque adjuster that generates a reaction force on the master arm according to the value obtained by adding the dead weight compensation value β to the dead weight compensation value β.
A bilateral master/slave manipulator comprising a friction compensation gain variable device that changes the gain γ of a friction compensation calculator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989013051U JP2501508Y2 (en) | 1989-02-08 | 1989-02-08 | Bilateral master slave manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989013051U JP2501508Y2 (en) | 1989-02-08 | 1989-02-08 | Bilateral master slave manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02104987U true JPH02104987U (en) | 1990-08-21 |
| JP2501508Y2 JP2501508Y2 (en) | 1996-06-19 |
Family
ID=31223036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989013051U Expired - Lifetime JP2501508Y2 (en) | 1989-02-08 | 1989-02-08 | Bilateral master slave manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2501508Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017033353A1 (en) * | 2015-08-25 | 2017-03-02 | 川崎重工業株式会社 | Remote control robot system |
| JP2019181664A (en) * | 2018-04-18 | 2019-10-24 | ファナック株式会社 | Robot control device and robot control method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6294284A (en) * | 1985-10-21 | 1987-04-30 | 三菱重工業株式会社 | Method of reducing operating physical force of manipulator for remote control |
| JPS63162172A (en) * | 1986-12-25 | 1988-07-05 | 工業技術院長 | Operating force reducer for master hand |
-
1989
- 1989-02-08 JP JP1989013051U patent/JP2501508Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6294284A (en) * | 1985-10-21 | 1987-04-30 | 三菱重工業株式会社 | Method of reducing operating physical force of manipulator for remote control |
| JPS63162172A (en) * | 1986-12-25 | 1988-07-05 | 工業技術院長 | Operating force reducer for master hand |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017033353A1 (en) * | 2015-08-25 | 2017-03-02 | 川崎重工業株式会社 | Remote control robot system |
| JPWO2017033353A1 (en) * | 2015-08-25 | 2018-06-07 | 川崎重工業株式会社 | Remote control robot system |
| US10932874B2 (en) | 2015-08-25 | 2021-03-02 | Kawasaki Jukogyo Kabushiki Kaisha | Remote control robot system |
| JP2019181664A (en) * | 2018-04-18 | 2019-10-24 | ファナック株式会社 | Robot control device and robot control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2501508Y2 (en) | 1996-06-19 |
Similar Documents
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |