JPH03184779A - Heterogeneous structure master-slave manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a master-slave manipulator with a different structure.

(Conventional technology) In master/slave manipulators with different structures, the master arm and slave arm have different axis structures and number of axes. This is calculated by a computer using information such as the joint angle of the arm, and bilateral control is performed using this position and force signal.

Taking the case of force feedback type bilateral control as an example, the master arm is force-controlled so that the force deviation at each corresponding point is zero, and the slave arm is position-controlled so that the position deviation at each corresponding point is zero. be done. However, if for some reason a large positional deviation occurs between the master arm and the slave arm before the manipulator is driven, the slave arm will move in a direction that reduces the positional deviation with the master arm at the start of normal manipulator operation. It was known to be extremely dangerous because it would move suddenly and a sudden reaction force would also be applied to the master arm. To avoid such risks, some master/slave manipulators have a function called "tuned mode." This function includes origin synchronization, mask synchronization, slave synchronization, etc., but before operating the manipulator, drive each arm at a safe speed so that the positions of the slave arm and master arm are synchronized to eliminate position deviation. That is what it is.

On the other hand, due to the fact that the master arm and slave arm of a master/slave manipulator with a different structure have different operating ranges, recent master/slave manipulators with a different structure are designed to effectively utilize the operating range of the slave arm. , "base point shift," etc. are available. There are various ways to implement this function. For example, when the mask operation limit is reached, the slave arm is fixed and only the master arm is moved to the reference position, or the slave arm is fixed and the operator can move the master arm to any position. There are methods to move the In either case, when you start operating the manipulator again, the dangerous situation due to the position deviation described above does not occur, and you can continue operating the manipulator as if the base point of the slave had shifted. . Specifically, by calculating the translational offset amount between the current position of a preset corresponding point on the master arm side and the current position of a preset corresponding point on the slave arm side, even if the master arm and slave arm Even if there is a positional deviation, the target position of the slave arm obtained by translationally converting the current position of the master arm is always made to match the current position of the slave arm.

In other words, in the "base point shift", the corresponding points and the apparent positions are synchronized by the internal processing of the software, and can be considered as a type of the "synchronization mode" described above. Therefore, by using "base point shift", it becomes possible to eliminate the need for "tuning mode".

However, even with the master/slave manipulator equipped with this "base point shift", the same work as in the "tuned mode" is required before starting the maneuver, and the operation procedure is not simplified. Furthermore, in the case of a master/slave manipulator with a different structure, a procedure is required to call up the base point shift mode during normal operation work, and a procedure to return to the normal operation mode again is required after the base point shift mode ends. Conventionally, these procedures were performed by operating a keyboard, button switches, etc. located outside the operating range of the master arm. In order to perform this operation, the operator has to temporarily remove his hand from the master arm, not only when the manipulator is a two-arm type, but sometimes even when the manipulator is a one-arm type. However, the more operable the master/slave manipulator is, the more dangerous it is to take your hand off the master arm.If you inadvertently touch the master arm when switching between two base point shift modes, the master arm may start moving. , the slave arm will move to follow this.

In some cases, the slave arm may damage peripheral equipment. Further, when switching the base point shift mode, the operator may take his eyes off the work object, so the operator is required to be extremely careful and to be sufficiently skilled in these mode switching operations.

(Problems to be Solved by the Invention) As described above, in the conventional master/slave manipulator with a different structure, although a base point shift mode is provided,
Pilots were required to be extremely careful when making the switch. In addition, it was necessary to be sufficiently proficient in this switching operation.

The present invention has been made to solve these conventional drawbacks, and its purpose is to provide a master/slave manipulator with a different structure that allows a base point shift mode to be selected safely and easily.

[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, in the present invention, a master arm and a slave arm having different shaft structures and numbers of shafts are spatially connected. , a master/slave manipulator with a different structure that has a translational correspondence means that translates the positional deviation of corresponding parts of the master arm and the slave arm as an offset amount, is provided in the control section of the master arm, and when gripped by the operator, the master/slave manipulator A first switch that enables the slave manipulator to be driven is provided near the first switch on the control section of the master arm, and only the master arm can be driven while the operator is holding and pressing the master arm. In addition, the master/slave manipulator has a different structure and is equipped with a second switch for causing the translation corresponding means to calculate an offset amount.

(Function) With the above configuration, the first switch can be turned on without the operator being aware of it by the gripping action that is always required when driving the manipulator, and the second option is achieved. Since the switch is provided near the first switch, it can be easily turned on at the same time as the first switch.
It can be N. Therefore, a master/slave manipulator with a different structure is provided that allows the base point shift mode to be selected safely and reliably.

(Example) The present invention will be described below based on the drawings. FIG. 1 is a configuration diagram showing a control device for a differently structured master/slave manipulator according to the present invention. Here, the master arm 1 and the slave arm 2 are connected to corresponding points ( It includes known computer components such as a coordinate transformation unit that calculates the position and force at the corresponding part) and an inverse transformation unit that decomposes a command value into command values for each joint. These arms 1.2 output the position signals and force signals of the corresponding points transformed by the coordinate conversion section of arm 1.2, respectively, and the master arm ↓ is the force control section 1 that controls the force by inputting the force signals. Therefore, the control system is configured such that the slave arm can be spatially connected and driven by a force feedback type bilateral servo system by a position control unit 21 that controls the position by inputting a position signal. .

In this embodiment, a total of four switching relays 3.4 and 5.6 are prepared on the transmission path of these signals, and it is possible to control the conduction of signals such as turning on and off the transmission of position signals and force signals. The state is set. Specifically, the switching relay 3 is placed on the path of the force control signal that drives the master arm 1, and the switching relay 4 is placed on the path of the force signal that returns the reaction force information calculated by the slave arm 2 to the master arm 1. , the switching relay 5 is on the path of the position control signal that drives the slave arm 2, and the switching relay 6 is on the path that takes in the position signal deviation between the master arm 1 and the slave arm 2 to the translational correspondence calculation unit M7. Each is placed. The switching relay 6 is set to conduct a signal to the translational correspondence calculation device 7 when it is in the OFF state. These switching relays 3.4.5.6 (7)
ON and OFF are the ON and OFF of signals a and b as shown in the figure.
This is done by turning OFF.

On the other hand, the translational correspondence calculation device 17 (translational correspondence means)
Both arms 1, 2
For example, there are various methods such as sequentially updating the position deviation of both arms using a storage device, but here, the position of the master arm is calculated using the current offset of the translational correspondence calculation bag a7. An apparent master arm position is created by translating according to the amount, and the deviation between this apparent position and the slave position is made zero by feedback consisting of an integral element.

At the time of zero setting, as the integral value of the translational correspondence calculation device 7,
The deviation between both arms is set as the true offset amount.

As shown in FIG. 2, the signals a and b are processed by a signal processing circuit 8 (here,
The combination of the outputs is determined by the signal processing means). Here, the signals A and B displayed on the left side of the figure are the reference signals for determining ON and OFF of the above-mentioned signals a and b, and the relationship between these signals A and B and signals a and b is summarized as follows. It will look like Table 1.

Table 1 * "l" indicates the signal is ON, and "0" indicates the signal is OFF.

Therefore, considering the case (III) in which only signal A is output, it can be seen in FIG. 1 that all switching relays 3.4.about.5.6 are in the ON state.

As a result, the master arm 1 and the slave arm 2 are driven by bilateral control, while calculation of the offset amount is stopped in the translational correspondence amount calculation bag [7]. In addition, signal A,
Considering the case (IV) in which both B and B are output, only switching relay 3 is turned on, and the other switching relays 4
．． 5.6 are all OFF. As a result, the reaction force signal calculated by the slave arm 2 is not transmitted to the master arm 1, the master arm 1 is driven by unilateral control, and the slave arm 2 is servo-locked and not driven. At the same time, the translational correspondence calculation device 7 calculates the offset amount of both arms 1.2.

Next, signal A controls the conduction of the signals a and b.

D will be explained in detail. Table 2 below summarizes the conditions in which each arm can be driven and the conditions in which the base point shift is activated, in correspondence with signals A and H.

Margin below Table 2 ``Status where slave arm drive is possible'' is only when mask/slave operation is being performed, and at other times it is desirable that the servo be locked for safety. In other words, it can be said that it is the time of A/''IB.

On the other hand, "a state in which a base point shift is required" means not only the time when a base point shift is requested, but also includes before the start of an operation, in an expanded sense of the tuning mode. In other words, it becomes AB.

Furthermore, the "state in which the slave arm can be driven" and the "state in which the base point shift can be performed" are logically mutually exclusive, as can be seen from A(IB=AL/B).

Furthermore, the "state in which the master arm can be driven" refers to the time of mask/slave operation and the time of base point shift request. here"
The term "base point shift" does not include the tuning mode, but refers to the original meaning of fixing the slave and moving the mask to an arbitrary position in order to effectively utilize the slave operating range. That is, (A/″IB)U (A/″IB)=A. Therefore, in the end, each operating state of the manipulator can be switched by using only A and A/''iB.

In other words, in order for slave arm 2 to be able to drive,
The master/slave manipulator switches must be ON and the reference point shift mode must not be selected. Further, the reference point shift actually operates in all states where the slave arm 2 is not drivable.

(For master arm 1, turn the manipulator switch to
By setting it to N, it becomes possible to drive. ) Next, the control section of the master/slave manipulator that actually switches ON/OFF of the above-mentioned signals A and B will be explained. FIG. 3 is a diagram showing this control section, and the control section 11 has a shape that can be held by the operator's hand, and is equipped with at least two switches 12 and 13.

Here, switch 12 (first switch) turns on signal A.
, OFF, and the switch 13 is for switching the signal B ON and OFF. The switch 12 is a reflective photoelectric sensor, and is provided at a position where the operator grasps the grip section 14 of the control section 11 to interrupt the optical path. When the operator holds the grip part 4, the operator is able to operate the master arm 1, and the switch 12 is automatically turned on at this time. The switch 13 (second switch) is a momentary push button using a spring or the like, and is provided at a position where the operator can operate it with his or her thumb.

This switch 13 is turned ON only while the operator presses it, and turned OFF when released.

The operation of the differently structured master/slave manipulator of the present invention having the above configuration will be explained.

(1) First, considering a state in which the operator does not operate the vehicle, both the switch 12 and the switch 13 are in the OFF state, so the signals A and B are in the OFF state.

The signal processing circuit 8 receives this and calculates (A, B)=(0,0
) corresponding to (a, b)=(0,0) CD signal is output to switching relays 3.4 and 5.6.

Therefore, the master and slave manipulators are not driven and each arm L, 2 remains fixed.

On the other hand, since the translational correspondence amount calculating unit N7 is in the ON state, the translational offset amount is calculated so that the position of the master arm 1 and the position of the slave arm 2 always correspond to each other in translation.

(2) When the operator grasps the grip part 14 of the control device 1 and becomes ready to operate the manipulator, the switch 12 is turned on and the signal A is turned on. At this point, the operator has not yet pressed the momentary push button (switch 13), so signal B is in the OFF state. The signal processing circuit 8 receives this and outputs a signal of (a, b)=(1,1) corresponding to (A, B)=(1,0) to the switching relays 3.4, 5.6. As a result, position signals and force signals are mutually transmitted to the master arm 1 and slave arm 2, and a state in which they can be driven by bilateral control is achieved. At this time, since the translational correspondence amount calculating device 7 is in the OFF state, the calculation of the translational offset amount is not updated, but (A, B
)=(0,0), since the translational offset amount has been calculated in advance, both arms 1.2 are driven without being in a dangerous state using this translational offset amount.

■When the operator presses the momentary push button (switch 13) while holding the grip part 14 of the control device 11, the signal A
, B are both in the ON state. The signal processing circuit 8 receives this and calculates (a, b)=corresponding to (A,B)=(1,1).
The signal (1, O) is output to switching relays 3.4 and 5.6. Then, master arm 1 and slave arm 2
position and force signals are no longer transmitted to each other,
Only the master arm 1 is in a state where it can be controlled by its own force signal. In addition, the translational correspondence calculation device 7 becomes operational,
The amount of translational offset of the master arm l with respect to the fixed slave arm 2 is calculated.

■Although it is possible that the operator presses the momentary push button (switch 13) without gripping the grip part 14 of the control device 11, in reality, the operator operates without gripping the grip part 14. That's not the case. However, even in such a case (a, b'').

= (0,0) signal is switching relay 3.4.5゜6
Therefore, similarly to (2), each arm 1, 2 is fixed and a non-maneuverable state is ensured.

As described above, the switch 12 of the manipulator needs to be always ON when driving the manipulator and when selecting the base point shift mode, so as in the present invention, the operator confirms the state in which the master arm 1 can be operated. It is convenient to use a sensor that In addition, the conditions for the base point shift switch 13 are such that the switch 12 and the switch 12 are turned on only when necessary.
N and can be operated safely and easily by the operator, and it is convenient to use a momentary push button switch operated with the thumb as in the present invention.

The control device shown in FIG. 1 and the signal processing circuit 8 shown in FIG.
If you use
The operation can be reliably linked to the drive of the master and slave manipulators.

Of course, the present invention is not limited to the above embodiments. For example, the present invention may be applied to a master/slave manipulator configured with a symmetrical type or force reversal type bilateral servo system. In addition, the present invention can be applied to a master with the same structure.
It may also be applied to slave manipulators.

To further describe the control section 11, the switch 12 is the third
If the arrangement is such that the position of the operator's fingers is detected as shown in the figure, it will turn on even when any one of the fingers is gripping and grip force is acting, and the manipulator will be in a state where it can be driven. You can monitor something very well. Of course, if all fingers are removed, the manipulator will immediately return to O.
Even if the slave arm 2 becomes FF and then touches the master arm 1 carelessly, the slave arm 2 will not operate.

In addition, as shown in FIG. 4, a portion corresponding to the back of the hand may be detected. Further, the switch 12 may be provided with a light emitting section 12B and a light receiving section 12b separately as shown in FIG. 5, and the switch 2 may be turned on when the optical path is interrupted. Of course, detection may be performed using sensors other than the optical sensor.

[Effects of the Invention] As described above, according to the present invention, a master/slave manipulator with a different structure that can safely and easily select a base point shift mode is provided.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a control device for a differently structured master/slave manipulator according to the present invention, FIG. 2 is a block diagram showing a signal processing circuit that performs signal switching control, and FIGS.
The figure is a front view showing a control section provided in the master arm of the present invention. l...Master arm 2...Slave arm 3.4.5.6...Switching relay 7...Translational correspondence amount calculation device (translational correspondence means) 8...
Signal processing circuit (signal processing means) 11...Control unit 12.13...Switch 14...Grip unit

Claims (2)

[Claims] (1) A translational correspondence means in which a master arm and a slave arm having different shaft structures and numbers of shafts are spatially connected, and which translates the positional deviation of the corresponding parts of the master arm and the slave arm into translational correspondence as an offset amount. A master/slave manipulator with a different structure has the following features: a first switch provided on the control section of the master arm and capable of driving the master/slave manipulator when gripped by an operator; a second switch provided near the first switch, which enables only the master arm to be driven while the operator is holding and pressing the switch; and causes the translation response means to calculate an offset amount; A master/slave manipulator with a different structure, characterized by comprising: and. (2) A first relay that controls continuity of a force control signal that serves as a drive command for the master arm, a second relay that controls continuity of a position control signal that serves as a drive command for the slave arm, and detection by the slave arm. a third relay that controls conduction of a reaction force signal that is returned to the master arm; and a third relay that conducts conduction of a signal for updating a positional deviation between corresponding portions of the master arm and the slave arm as an offset amount to the translation response means. a fourth relay that conducts a signal between the first relay, the second relay, and the third relay when the first switch is ON;
A signal processing means for controlling a signal to be conducted between the first relay and the fourth relay when the first switch and the second switch are ON. The different structure master/slave manipulator according to 1.