JPH0579929A - Detecting method for slip sense and detecting device thereof - Google Patents
Detecting method for slip sense and detecting device thereofInfo
- Publication number
- JPH0579929A JPH0579929A JP20767391A JP20767391A JPH0579929A JP H0579929 A JPH0579929 A JP H0579929A JP 20767391 A JP20767391 A JP 20767391A JP 20767391 A JP20767391 A JP 20767391A JP H0579929 A JPH0579929 A JP H0579929A
- Authority
- JP
- Japan
- Prior art keywords
- self
- objective contact
- vibrator
- section
- objective
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000010355 oscillation Effects 0.000 claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000035807 sensation Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 description 5
- 230000003321 amplification Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野利用】本発明は、対物接触振動子を
利用した、すべり覚の検出方法及びその検出装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for detecting slip sensation utilizing an objective contact vibrator.
【０００２】[0002]
【従来の技術】生産工場のいわゆるＦＡ化（ファクトリ
ー・オートメイション）、さらにはＣＩＭ化（コンピュ
ータ統合生産システム）の傾向が著しい今日、かかる工
程実現においては、種々のセンサーが使用され、又新規
機能のセンサーが要求されてきている。むしろ、高度な
工程システムの構築は、センサー性能の如何によると言
得る現状である。2. Description of the Related Art Today, there is a remarkable tendency toward FA (factory automation) and CIM (computer integrated production system) in production plants. In order to realize such processes, various sensors are used and new functions are introduced. Sensors are being demanded. Rather, it can be said that the construction of sophisticated process systems depends on the sensor performance.
【０００３】ロボットの把持部等に取付けられるすべり
覚センサーも、かかる工程構築上重要な位置をしめるも
のの１つである。従来のすべり覚センサーは、対象物
（把持物）の変位を光、磁気、又は振動などを利用して
感知するするものであった。The slip sensor attached to the grip of the robot is one of the important positions for constructing the process. A conventional slip sensor detects a displacement of an object (grasping object) using light, magnetism, vibration, or the like.
【０００４】[0004]
【発明が解決しようとする課題】しかし、かかる従来の
方法のセンサーは、大掛かりの物で小型化することが困
難なものであり、さらには、その応答特性や分解能につ
いても、満足のいくものではなかった。そこで、本願
は、かかる実情に鑑み、鋭意研究の末、自励する対物接
触振動子が、対象物（把持物）との接触状態により発振
周波数が変化することを見出し、これを利用したすべり
覚の検出方法及びこれに用いる検出装置の発明を完成す
るに到り、ここに提供するものである。However, the sensor of such a conventional method is a large-scaled one, and it is difficult to miniaturize it. Further, its response characteristic and resolution are not satisfactory. There wasn't. In view of this situation, the present application has found that, after intensive research, the self-excited objective contact vibrator has an oscillation frequency that changes depending on the contact state with an object (holding object). The invention of the detection method and the detection device used therefor has been completed, and the invention is provided here.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
本願発明は、次のように構成される。すなわち、本願発
明に係るすべり覚の検出方法は、対物接触振動子の出力
信号を増幅した後、前記対物接触振動子に強制帰還させ
て成る自励発振回路部における発振周波数の変化を測定
することにより、すべり覚を感知することを特徴とす
る。In order to achieve the above-mentioned object, the present invention is constructed as follows. That is, the slip sense detecting method according to the present invention comprises measuring the change in the oscillation frequency in the self-excited oscillation circuit section formed by amplifying the output signal of the objective contact oscillator and forcibly feeding it back to the objective contact oscillator. Is characterized by sensing a slip sensation.
【０００６】また、対物接触振動子に取付けた振動検出
用素子を介して出力信号を取り出すようにしても良い。
次に、本願発明に係るすべり覚検出装置は、対物接触振
動子からなるセンサー部と、該センサー部からの出力信
号を増幅し、対物接触振動子に強制帰還させて成る自励
発振回路部と、該自励発振回路部の発振周波数を計測す
る計測部と、から構成されることを特徴とする。Further, the output signal may be taken out through a vibration detecting element attached to the objective contact vibrator.
Next, the slip-sense detecting apparatus according to the present invention includes a sensor section including an objective contact vibrator, and a self-excited oscillation circuit section that amplifies an output signal from the sensor section and forcibly returns the amplified signal to the objective contact vibrator. And a measuring section for measuring the oscillation frequency of the self-excited oscillation circuit section.
【０００７】さらに加えて、センサー部は、対物接触振
動子に振動検出用素子を取付けて出力信号を得る構造と
してもよく。自励発振回路部において、増幅後、帯域フ
ィルタを通して強制帰還させる構成の自励発振回路部と
してもよい。In addition, the sensor section may have a structure in which a vibration detecting element is attached to the objective contact vibrator to obtain an output signal. The self-excited oscillation circuit unit may be a self-excited oscillation circuit unit configured to perform forced feedback through a bandpass filter after amplification.
【０００８】[0008]
【実施例】以下に、本願発明の実施例、及びその測定例
の詳細を説明する。１はセンサー部で、対物接触振動子
１１から構成される。該センサー部１は、ロボットハン
ド（図示せず。）などの把持部の対物接触面に取付けら
れる。ここで、対物接触振動子１１としては、例えば圧
電セラミック振動子や水晶振動子が好ましいものとして
挙げられ、その形状に制限はなく、取付けられる把持部
の形状にしたがって適宜の形状に成形される。EXAMPLES Examples of the present invention and measurement examples thereof will be described below in detail. Reference numeral 1 denotes a sensor unit, which includes an objective contact vibrator 11. The sensor unit 1 is attached to an object contact surface of a gripping unit such as a robot hand (not shown). Here, as the objective contact oscillator 11, for example, a piezoelectric ceramic oscillator or a crystal oscillator is preferable, and the shape thereof is not limited, and the objective contact oscillator 11 is formed into an appropriate shape according to the shape of the grip portion to be attached.
【０００９】また、対物接触振動子１１から直接出力信
号を取り出しても良いが、より感度を高めるため、対物
接触振動子１１に振動検出用素子１２を取付けてもよ
い。この具体的取付け手段は、振動が伝達する構成のも
のであれば、接着等その如何を問わない。なお、振動検
出用素子１２としては、例えば圧電セラミック素子、圧
電型加速度ピックアップ、又は高分子圧電フィルム等が
挙げられ、その形状は対物接触振動子１１に対応して適
宜形成される。Further, although the output signal may be taken out directly from the objective contact vibrator 11, the vibration detecting element 12 may be attached to the objective contact vibrator 11 in order to enhance the sensitivity. The specific attachment means may be adhesive or the like as long as it is configured to transmit vibration. The vibration detection element 12 may be, for example, a piezoelectric ceramic element, a piezoelectric acceleration pickup, a polymer piezoelectric film, or the like, and its shape is appropriately formed corresponding to the objective contact vibrator 11.
【００１０】２は、自励発振回路部であり、対物接触振
動子１１からの出力信号を増幅回路２１で増幅し、該増
幅信号を対物接触振動子１１に供給する強制帰還を行わ
せるように回路構成されている。かかる構成により、増
幅回路２１の増幅度を調整して対物接触振動子１１を振
動させ、かかる出力信号を増幅した後に強制帰還させる
回路により、対物接触振動子１１と増幅回路２１とで発
振回路を構成し、自励発振することになる。Reference numeral 2 denotes a self-excited oscillation circuit section, which amplifies an output signal from the objective contact vibrator 11 by an amplifier circuit 21 and forcibly feeds back the amplified signal to the objective contact vibrator 11. The circuit is configured. With this configuration, the objective contact vibrator 11 is vibrated by adjusting the amplification degree of the amplifier circuit 21, and a circuit that amplifies the output signal and then forcibly feeds back the objective contact vibrator 11 and the amplifier circuit 21 forms an oscillation circuit. It will be configured and self-oscillating.
【００１１】なおかかる自励発振回路部２において、前
記の振動検出用素子１２からの出力信号を、増幅回路２
１で増幅した後、帯域フィルタ回路２２を通過させて対
物接触振動子１１に強制帰還させるようにしてもよい。
これにより、発振の感度、及び分解能が向上し、さらに
は安定性を増すことができる。３は、計測部であり、増
幅回路２１と対物接触振動子１１の間に接続設置される
周波数測定回路３１と、該周波数測定回路３１に接続さ
れるデータ処理回路３２とから構成される。In the self-excited oscillation circuit section 2, the output signal from the vibration detecting element 12 is amplified by the amplification circuit 2.
After being amplified by 1, it may be passed through the bandpass filter circuit 22 and forcibly fed back to the objective contact vibrator 11.
As a result, the sensitivity and resolution of oscillation can be improved and the stability can be increased. Reference numeral 3 denotes a measuring unit, which includes a frequency measuring circuit 31 connected and installed between the amplifier circuit 21 and the objective contact vibrator 11, and a data processing circuit 32 connected to the frequency measuring circuit 31.
【００１２】[0012]
【作用】本願実施例は、以上のように構成されるため、
対物接触振動子１１に物体４が接触すると、自励発振回
路部２の発振周波数が変化するので、この時の発振周波
数をまず測定する。次に対物接触振動子１１に接触した
物体４が少しでも移動すると発振周波数が低下するの
で、これを測定し、移動前と移動後の発振周波数の変化
量を求めれば、物体のすべり覚を知ることができる。Since the embodiment of the present application is configured as described above,
When the object 4 comes into contact with the objective contact vibrator 11, the oscillation frequency of the self-excited oscillation circuit unit 2 changes, so the oscillation frequency at this time is first measured. Next, if the object 4 in contact with the objective contact vibrator 11 moves even a little, the oscillation frequency decreases. Therefore, if this is measured and the change amount of the oscillation frequency before and after the movement is obtained, the slip sensation of the object can be known. be able to.
【００１３】これら一連の測定データをデータ処理回路
によって解析すれば、リアルタイムでのすべり覚を感知
することができる。図３は、上記装置を用いて行った周
波数変化量の測定結果を示したグラフである。センサー
部を机のような物体に接触させると（t1）、その物体の
硬さによって発振周波数が変化する（変化量は、300Hz
を示す)。接触した状態で物体の移動がない間（t1〜
t2）は、周波数の変動がなく変化量は一定となり、セン
サーを物体から離すと発振周波数は、もとに戻り変化量
は零となる（t2〜t3）。次に、センサーを物体に接触さ
せ（t3）、物体表面を接触させながら一定の速さで移動
させると、図示したように周波数の変化量は低下する
（t4〜t5）。また、移動速度を加速度的にすると、周波
数の変化も直線的な減少傾向を示し（t5〜t6）、再び一
定の移動速度にすると、周波数変化量は低下したまま一
定となる（t6〜t7）。移動を止めると、発振周波数は再
び上昇して一定となる（t7〜t8）。By analyzing the series of measurement data by the data processing circuit, it is possible to sense the slip sensation in real time. FIG. 3 is a graph showing the measurement results of the frequency change amount performed using the above device. When the sensor is brought into contact with an object such as a desk (t 1 ), the oscillation frequency changes depending on the hardness of the object (the amount of change is 300 Hz.
Is shown). While there is no movement of the object in contact (t 1 ~
At t 2 ), there is no frequency fluctuation and the amount of change is constant, and when the sensor is moved away from the object, the oscillation frequency returns to the original value and the amount of change becomes zero (t 2 to t 3 ). Then, contacting the sensor to the object (t 3), is moved at a constant speed while contacting the object surface, the variation of the frequency as shown decreases (t 4 ~t 5). In addition, when the moving speed is accelerated, the frequency change also tends to decrease linearly (t 5 to t 6 ), and when the moving speed is made constant again, the frequency change amount decreases and becomes constant (t 6). ~ T 7 ). Stop moving, the oscillation frequency becomes constant rises again (t 7 ~t 8).
【００１４】[0014]
【効果】本願発明は、以上のように構成されているた
め、次に挙げる効果を奏する。 自励発振の発振周波数の変化を利用してすべり覚を
感知するようにしているため、高感度で分解能に優れ、
人の触覚に近い感覚を得ることができる。 対物接触振動子からなるセンサー部を、ロボットハ
ンド等の把持部に埋め込み、データをリアルタイムで計
測処理することにより、保持した物体の若干の移動（滑
り落ち）を検出し、滑り落ちないように随時指やバンド
の把持力を調節するフィードバックコントロールをする
ことが可能になる。 自励発振を利用するものであるため、接触する物体
が変わる毎にいちいち発振器を調節操作して発振周波数
を探す必要がなくなり、取扱が極めて簡易で、リアルタ
イムの測定が可能になる。 本発明は、コンピューターとのインターフェイスが
容易であるため、データの高速処理により、リアルタイ
ムの処理が可能となりロボット工学分野ばかりでなく、
医療分野、農業分野等、多方面の分野への適用実施が可
能である。[Effect] Since the present invention is configured as described above, it has the following effects. Because it senses the slip sensation by utilizing the change in the oscillation frequency of self-excited oscillation, it has high sensitivity and excellent resolution.
It is possible to obtain a feeling close to the sense of touch of a person. The sensor unit consisting of the objective contact vibrator is embedded in the gripping part of the robot hand, etc., and data is measured in real time to detect a slight movement (sliding down) of the held object and to prevent slipping at any time. It becomes possible to perform feedback control for adjusting the gripping force of the finger or the band. Since self-excited oscillation is used, it is not necessary to adjust the oscillator to find the oscillation frequency each time the contacted object changes, and the handling is extremely simple and real-time measurement is possible. Since the present invention is easy to interface with a computer, high-speed processing of data enables real-time processing, and not only in the field of robotics,
It can be applied to various fields such as medical field and agricultural field.
【図１】本願発明の実施例を示す概略斜視説明図であ
る。FIG. 1 is a schematic perspective view illustrating an embodiment of the present invention.
【図２】本願発明の他の実施例を示す概略斜視説明図で
ある。FIG. 2 is a schematic perspective explanatory view showing another embodiment of the present invention.
【図３】本願発明の実施例の測定結果を示すグラフであ
る。FIG. 3 is a graph showing a measurement result of an example of the present invention.
１・・・センサー部 ２・・・自励発
振回路部 ３・・・計測部 ４・・・物 体 11・・・対物接触振動子 12・・・振動検
出用素子 21・・・増幅回路 22・・・帯域フ
ィルタ回路 31・・・周波数測定回路 32・・・データ
処理回路1 ... Sensor section 2 ... Self-oscillation circuit section 3 ... Measurement section 4 ... Object 11 ... Objective contact vibrator 12 ... Vibration detection element 21 ... Amplification circuit 22 ... Band filter circuit 31 ... Frequency measurement circuit 32 ... Data processing circuit
Claims (4)
した後、前記対物接触振動子（１１）に強制帰還させて
成る自励発振回路部（２）における発振周波数の変化を
測定することにより、すべり覚を感知することを特徴と
するすべり覚の検出方法。1. A change in oscillation frequency in a self-excited oscillation circuit section (2) which is obtained by amplifying an output signal of an objective contact oscillator (11) and then forcibly feeding it back to the objective contact oscillator (11). A method for detecting a slip sensation characterized by sensing a slip sensation.
出用素子（２）を介して出力信号を取り出すことを特徴
とする請求項１記載のすべり覚の検出方法。2. The method for detecting slip sensation according to claim 1, wherein an output signal is taken out through a vibration detecting element (2) attached to the objective contact vibrator (11).
部（１）と、 該センサー部（１）からの出力信号を増幅し、対物接触
振動子（１１）に強制帰還させて成る自励発振回路部
（２）と、 該自励発振回路部（２）の発振周波数を計測する計測部
（３）と、から成ることを特徴とするすべり覚検出装
置。3. A sensor section (1) comprising an objective contact vibrator (11), and a self-excited apparatus for amplifying an output signal from the sensor section (1) and forcibly feeding back to the objective contact vibrator (11). A slip sensation detection device comprising an oscillation circuit section (2) and a measurement section (3) for measuring the oscillation frequency of the self-excited oscillation circuit section (2).
物接触振動子（１１）からなるセンサー部（１）と、 該振動検出用素子（１２）からの出力信号を増幅した
後、帯域フィルタ回路（２２）を通して前記対物接触振
動子（１１）に強制帰還させて成る自励発振回路部
（２）と、 該自励発振回路部（２）の発振周波数を計測する計測部
（３）と、から成ることを特徴とするすべり覚検出装
置。4. A sensor section (1) comprising an objective contact vibrator (11) to which a vibration detecting element (12) is attached, and a band after amplifying an output signal from the vibration detecting element (12). A self-excited oscillation circuit section (2) forcibly fed back to the objective contact vibrator (11) through a filter circuit (22), and a measurement section (3) for measuring the oscillation frequency of the self-excited oscillation circuit section (2). And a slip sensation detection device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20767391A JPH0579929A (en) | 1990-08-20 | 1991-08-20 | Detecting method for slip sense and detecting device thereof |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21956790 | 1990-08-20 | ||
| JP2-219567 | 1990-08-20 | ||
| JP20767391A JPH0579929A (en) | 1990-08-20 | 1991-08-20 | Detecting method for slip sense and detecting device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0579929A true JPH0579929A (en) | 1993-03-30 |
Family
ID=26516391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20767391A Pending JPH0579929A (en) | 1990-08-20 | 1991-08-20 | Detecting method for slip sense and detecting device thereof |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0579929A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010074045A1 (en) * | 2008-12-26 | 2010-07-01 | 学校法人 日本大学 | Robot hand system with gripping section |
| WO2021117750A1 (en) * | 2019-12-10 | 2021-06-17 | 国立大学法人 名古屋工業大学 | Robot hand comprising vibration sensor, and robot system comprising said robot hand |
-
1991
- 1991-08-20 JP JP20767391A patent/JPH0579929A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010074045A1 (en) * | 2008-12-26 | 2010-07-01 | 学校法人 日本大学 | Robot hand system with gripping section |
| WO2021117750A1 (en) * | 2019-12-10 | 2021-06-17 | 国立大学法人 名古屋工業大学 | Robot hand comprising vibration sensor, and robot system comprising said robot hand |
| JP2021091041A (en) * | 2019-12-10 | 2021-06-17 | 国立大学法人 名古屋工業大学 | Robot hand including vibration sensor and robot system including the same |
| EP4074477A4 (en) * | 2019-12-10 | 2023-12-27 | Nagoya Institute Of Technology | ROBOT HAND WITH VIBRATION SENSOR AND ROBOT SYSTEM WITH THIS ROBOT HAND |
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