JPH0442142B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Object of the Invention [Field of Industrial Application] This invention relates to a remote control method using a master manipulator and a slave manipulator.

[Prior art] When workers cannot enter the actual work environment (work environment), such as when working in space, the ocean, or the nuclear power field,
The usual method is to install a slave manipulator in a work environment, install it in a safe remote operation environment, and remotely control it using a master manipulator.

In order to improve the maneuverability of this master-slave manipulation system and perform remote control smoothly, it is necessary to accurately transmit information in the work environment to the operator in the operating environment.
It is desirable to reproduce the displacement on the slave manipulator side and the state of the applied force on the master manipulator side as faithfully as possible.

For this reason, attempts have been made to transfer the force and torque applied to the slave manipulator to the master manipulator, and various bilateral servo mechanisms have been proposed to meet this purpose. .

One of these bilateral servo mechanisms is a force feedback type bilateral servo mechanism as shown in FIG.

In this bilateral servo mechanism 101, a position servo system is configured on the slave manipulator 103 side, and when the displacement on the master manipulator 102 side is detected by the position detector 104, the output is used as a command signal to control the slave manipulator 103. Manipulator 10
The position servo system 105 on the third side works, and the slave manipulator 103 becomes the master manipulator 102.
It moves following the displacement of. On the other hand, if some kind of restraint force is applied to the slave manipulator 103 from the object at this time, it is detected by the torque (or force) detector 106 and transmitted to the master manipulator 102 side. . A torque servo system 108 consisting of a drive motor (not shown) and a torque (or force) detector 107 is configured on the master manipulator 102 side, and the torque detector detected by the slave manipulator 103 By applying the 106 output signal to the torque servo system 108, a torque equivalent to the torque applied to the slave manipulator 103 is generated on the master manipulator 102 side.

[Problems to be Solved by the Invention] By the way, in this type of bilateral servo, the force is sent back from the slave manipulator side to the master manipulator side, but as described above, the force is sent back to the slave manipulator 103 side. This is done by the installed torque detector 106 and the torque servo system 108 installed on the master manipulator 102 side, but since there are generally various delays in the torque servo system, it is detected on the slave manipulator side. Torque is not necessarily accurately transmitted to the master manipulator. That is, this is because a tracking error occurs in the torque servo system. This tracking error becomes more significant when the torque detected on the slave manipulator side fluctuates at high speed, making it impossible to give the operator the slave side restraint force with a sense of realism. .

This invention was made in view of the above circumstances, and applies a model reference adaptive control method to a master-slave type manipulator, and uses the constraint situation on the slave manipulator side as a model to set the constraint conditions. By feeding back the entire dynamic compliance including the control to the master side drive system, the master manipulator side can achieve a restraint state equivalent to that of the slave manipulator side, providing a realistic feeling of remote operation. It is an object of the present invention to provide a remote control method that enables remote control such that the operator feels as if he or she is directly operating the object.

(C) Structure of the Invention [Means for Solving the Problem] Corresponding to this object, the model-based bilateral remote control method of the present invention includes a method for applying a force acting on the master manipulator to the master manipulator. A first force detector for detecting the position of the slave manipulator and a first position detector for detecting the position of the master manipulator are provided, and a second position detector for detecting the position of the slave manipulator for handling the object is provided.
a position detector and a second force detector for detecting the force acting on the slave manipulator, the first force detector detects the force acting on the master manipulator, and the first force detector detects the force acting on the master manipulator. A slave manipulator applies a force to the object based on the output of the force detector, and the second position detector detects a position of the slave manipulator corresponding to the force acting on the object, The master manipulator control system is controlled by a compensation circuit using the output of the second position detector as a model reference so that the difference between the output of the second position detector and the output of the first position detector becomes zero. It is characterized by adjusting parameters.

The details of this invention will be explained below with reference to the drawings showing one embodiment.

In FIG. 1, reference numeral 1 denotes a master/slave manipulator control device used in an embodiment of the present invention, and the master/slave manipulator control device 1 includes a master manipulator mechanism 2 and a slave manipulator mechanism 3. and a transmission system 4. The master manipulator mechanism 2 includes a master manipulator 5, a master manipulator drive device 6 that drives the master manipulator 5, a position detector 7 that detects the position of the master manipulator 5,
A force detector 8 that detects the force acting on the master manipulator 5 and a master manipulator drive device 6
and an amplifier 11 for amplifying the input signal to.

On the other hand, the slave manipulator mechanism 3 includes a slave manipulator 13, a slave manipulator drive device 14 that drives the slave manipulator 13, a position detector 15 that detects the position of the slave manipulator 13, and a slave manipulator 13 that drives the slave manipulator 13. A force detector 16 that detects the force acting on the manipulator 13
and an amplifier 17 for amplifying the input signal to the slave manipulator driving device 14.

The master manipulator mechanism 2 and slave manipulator mechanism 3 are connected via a transmission system 4. The transmission system 4 includes a compensation circuit 22 and two comparators 2
3,24.

[Operation] The ideal of bilateral control can be rearranged as follows.

That is, as shown in Fig. 2, when a certain displacement ΔX is applied to the master manipulator side, a corresponding displacement ΔX occurs in the slave manipulator, and at that time, the slave manipulator If some action is applied to the object and it receives a reaction force of ΔF, that ΔF must be accurately transferred to the master manipulator and correctly applied to the operator operating the master manipulator. At this time, in FIG. 2, it is assumed that ΔX is applied on the master manipulator side, but it may be thought that ΔX is accurately reversed by applying a force of ΔF on the contrary. That is, it is ideal that the mechanical state (ΔX, ΔF) on the master manipulator side and the mechanical state (ΔX, ΔF) on the slave manipulator side match.

By the way, the relationship between the displacement ΔX and the reaction force ΔF on the slave manipulator side generally changes depending on the characteristics of the object to be manipulated. If the object is soft, ΔF will be small even if a large ΔX is applied, and if the object is hard, a large ΔF will occur even with a small ΔX. Also,
ΔX and ΔF in the slave manipulator also change over time.

After all, the ideal control of the master manipulator is to reproduce the states of ΔF and ΔX of the slave manipulator on the master manipulator side.

Therefore, the present invention applies the concept of model-normative adaptive control to a master-slave manipulator system, treats the state of the slave manipulator as a reference model, and controls the master manipulator side to match that model. By adjusting system parameters, the state of the slave manipulator is faithfully reproduced on the master manipulator side. That is, when the operator grasps the master manipulator 5 with his hand 10, the force applied to the master manipulator 5 is detected by the first force detector 8, and the force signal is transmitted to the slave manipulator mechanism. It becomes a command signal to 3.

A force servo system is configured in the slave manipulator mechanism 3, and the master manipulator mechanism 2
The slave manipulator 13 operates in response to the aforementioned force command signal from the slave manipulator 13, and the same force as the force applied to the master manipulator 5 is applied to the object 25 by the slave manipulator 13. When the slave manipulator 13 applies an action to the object 25, the displacement at that time is detected by the position detector 15.

On the other hand, the force applied to the master manipulator 5 by the operator is detected by the first force detector 8 and input to the compensation circuit 22. The compensation circuit 22 calculates the signal to be given to the drive device 6 (current if the drive device 6 is a motor) corresponding to the displacement required of the master manipulator mechanism 2, and sends it to the master manipulator mechanism 2 via the amplifier 11. input to the rotor drive device 6. As a result, the master manipulator drive device 6 operates, and the master manipulator 5
is displaced. This amount of displacement is detected by the first position detector 7. The output of the first position detector 7 is compared with the output of the second position detector 15, which is a model, by a comparator 24, and the amount of deviation is input to the compensation circuit 22. The compensation circuit 22 adjusts the parameters so that this deviation amount is always zero. If this parameter is adjusted appropriately and the output difference between the position detectors 7 and 15 of both the master manipulator and slave manipulator always becomes zero, the force in the master manipulator and slave manipulator The positional relationship will match, and the state of the slave manipulator will be accurately transferred back to the master manipulator.

FIG. 3 shows a remote control method in which the principle of the present invention described above is extended to a master manipulator system with n degrees of freedom.

In Fig. 3, F _x , F _y , F _z are the forces acting on the master manipulator in three orthogonal axes directions, m _x ,
m _y , m _z are the moments around the three orthogonal axes acting on the master manipulator, x, y, z are the displacements of the master manipulator in the three orthogonal axes directions, ψ _x , ψ _y ,
ψ _z is the rotation angle of the master manipulator around the orthogonal three axes, G _x , G _y , G _z is the dynamic compliance of the slave manipulator in the orthogonal three axes directions, M _x ,
M _y , M _z are the dynamic compliances of the slave manipulator around the three orthogonal axes, τ _i is the torque around the joint axes of the slave manipulator, and θ _i is the rotation angle around the slave manipulator joint axes. It is. i is a number corresponding to a joint.

The slave manipulator and master manipulator do not necessarily have to have similar structures. However, the number of degrees of freedom (number of joints) must match. When the structures of the slave manipulator and master manipulator are different, coordinate transformation is required when transmitting information between the master manipulator and slave manipulator. This coordinate exchange is also illustrated in the embodiment shown in FIG.

(C) Effects of the Invention As described above, according to the present invention, in a master-slave type manipulator, dynamic compliance corresponding to the constraint conditions on the slave manipulator side can be fed back to the drive system on the master manipulator side. By realizing a restraint state on the master manipulator side that is equivalent to that on the slave manipulator side, it is possible to perform remote control with a realistic feeling of remote control, allowing the operator to more directly manipulate the object. It is possible to obtain a remote control method that allows the user to feel as if he or she is actually doing something.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing the configuration of a remote control device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the state of force and displacement in a master manipulator and a slave manipulator, and FIG. A configuration explanatory diagram showing a remote control device according to another embodiment of the invention,
and FIG. 4 are configuration explanatory diagrams showing a conventional force feedback type bilateral control mechanism. 1...Master-slave manipulator control device,
2... Master manipulator mechanism, 3... Slave manipulator mechanism, 4... Transmission system, 5... Master manipulator, 6... Master manipulator drive device, 7... Position detector, 8... Force detector, 10 …hand,
11...Amplifier, 13...Slave manipulator,
14...Slave manipulator drive device, 15...
Position detector, 16... Force detector, 17... Amplifier, 2
2...Compensation circuit, 23...Comparator, 24...Comparator, 2
5...Object.

Claims (1)

[Claims] 1 A first force detector that detects a force acting on the master manipulator, and a first force detector that detects the position of the master manipulator.
a second position detector for detecting the position of the slave manipulator and a second force for detecting the force acting on the slave manipulator; a detector is provided, the force to be applied to the master manipulator is detected by the first force detector, and the force is applied to the object by the slave manipulator based on the output of the first force detector; The position of the slave manipulator corresponding to the force acting on the object is detected by the second position detector, and the output of the second position detector is used as a model reference to detect the position of the slave manipulator corresponding to the force acting on the object. A model-based bilateral remote control method, characterized in that parameters of a master manipulator control system are adjusted by a compensation circuit so that the difference between the output and the output of the first position detector becomes zero.