JPH0551580U - Master slave manipulator - Google Patents

Abstract

(57) [Summary] [Purpose] Simplification and stabilization of the control system in the master-slave manipulator, and improvement of slave arm tracking. [Structure] A speed sensor 10 detects a speed of a joint of a master arm 1, and the detected speed is input to a speed amplifier 8 as a set value to input an actuator 9 of a joint of a slave arm 2.
To drive.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to improved control of a master-slave manipulator.

[0002]

[Prior Art]

 The master-slave manipulator has a master arm and a slave arm, and when an operator moves the master arm, the master arm is controlled so that the slave arm operates according to the movement of the master arm. The slave arm does the work.

Generally, as shown in FIG. 2, the master-slave manipulator is conventionally controlled by installing angle sensors 3 and 4 for position detection at each joint of the master arm 1 and the slave arm 2, and corresponding angle sensors 3 and 4, respectively. The detection signal of No. 4 is matched by the matching processing unit 5, the obtained deviation is multiplied by the servo gain (coefficient) in the servo gain processing unit 6, and the actuator 9 is driven through the amplifier 8. The joints of the slave arm 2 are operated at a speed proportional to the deviation of the joint angles of the master arm 1 and the slave arm 2 so that the joint angles of the slave arm 2 are the same. Note that FIG. 2 shows the most basic control per joint, and the control device 7 performs the processing of the portion surrounded by the chain double-dashed line.

[0004]

[Problems to be solved by the device]

 The conventional control shown in FIG. 2 has a drawback that it is difficult to adjust the servo gain because the control performance is different as shown in (1) and (2) below depending on the magnitude of the servo gain. (1) When the servo gain is small, the operation is stable, but the slave arm 2 follows slowly. (2) When the servo gain is large, the followability is good, but the operation of the slave arm 2 is not stable.

Therefore, in general, various compensation controls are added to the control loop of FIG. 2 in order to stabilize the operation and improve the followability. For example, PI processing is added to the servo gain processing unit 6. However, since such compensation processing is performed inside the control device 7, there is a drawback in that the control loop becomes complicated when the compensation processing is performed. Specifically, there is a drawback that the circuit configuration of the control device 7 becomes complicated and large, or that the load of software becomes large when using a computer.

An object of the present invention is to provide a master-slave manipulator which solves the above-mentioned drawbacks of the prior art.

[0007]

[Means for Solving the Problems]

 The configuration of the master-slave manipulator according to the present invention comprises a speed sensor provided at the joint of the master arm, an actuator provided at the joint of the slave arm, and an amplifier for driving the actuator with the detection signal of the speed sensor as a set value. It is characterized by doing.

[0008]

[Action]

 The speed sensor detects the speed of the master arm joint and operates the slave arm joint using the detected speed as the set value. This realizes a speed type master-slave manipulator.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to FIG. However, FIG. 1 shows a control block per joint. In the master-slave manipulator of the present invention, as shown in FIG. 1, a speed sensor 10 is installed at each joint of the master arm 1, and a detection signal of the speed sensor 10 is amplified by an amplifier (speed amplifier) 8 to make a slave arm. The actuator 9 of the joint corresponding to 2 is driven. As a result, the joint of the slave arm 2 operates with the detection signal (joint angular velocity) of the velocity sensor 10 as a set value.

As shown in FIG. 1, the entire control system of the master-slave manipulator is constructed by inputting the detection signal of the speed sensor 10 of the master arm 1 to the speed amplifier 8 to drive the actuator of the slave arm 2. Therefore, there are the following advantages (A) and (B). (A) Since the detection signal of the speed sensor 10 of the master arm 1 is only input to the speed amplifier 8 of the slave arm 2 as a set value, no special control circuit is required and the overall structure is simple. (B) Since there is no servo gain as in the past, servo gain adjustment is unnecessary. Therefore, if the speed amplifier 8 is ideal, the system is stable and has good followability. That is, when the master arm 1 is moved, the slave arm 2 immediately moves accordingly.

[0011]

[Effect of the device]

 As is apparent from the above description, the master-slave manipulator of the present invention does not operate the slave arm at a speed proportional to the deviation of the joint angle as in the conventional art, but detects the speed of the master arm joint and detects it. Since the slave arm operates as the set value, the control system is stable and the slave arm follows the master arm operation with good followability. In addition, the configuration of the entire control system is simple, and a matching processing unit or the like for obtaining the joint angle deviation as in the conventional case is unnecessary. From these, a highly reliable master-slave manipulator can be realized.

[Brief description of drawings]

FIG. 1 is a control block diagram showing an embodiment of the present invention.

FIG. 2 is a control block diagram showing a conventional example.

[Explanation of symbols]

 1 Master Arm 2 Slave Arm 8 Speed Amplifier 9 Actuator 10 Speed Sensor

Claims (1)

[Scope of utility model registration request] 1. A speed sensor provided at a joint of a master arm, an actuator provided at a joint of a slave arm, and an amplifier for driving the actuator with a detection signal of the speed sensor as a set value. Master-slave manipulator to do.