JPH06297367A - Manipulator operating device - Google Patents

Abstract

(57) [Summary] [Object] To provide a manipulator operating device capable of obtaining position and orientation information with a small amount of calculation, ensuring a wide motion range, and preventing the position and orientation from interfering with each other. A grip having a built-in attitude detection gyro is supported by a grip support portion that supports the attitude of the grip so that the attitude of the grip is rotatable in three directions. The grip support is formed by stretching the grip support from at least two points with a wire under constant tension winding control by a motor so that the position of the grip support can be moved by an operation of an operator. Part is kept in the air. Attitude data based on the output of the gyro and position data based on the output of the angle detector attached to the motor are used as manipulator operation commands.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for a master / slave manipulator, and more particularly to an operating device capable of operating the position and posture of a tip.

[0002]

2. Description of the Related Art A master / slave manipulator is a master manipulator (operating device) operated by an operator.
It is composed of a slave manipulator that actually performs work based on the operation of the master manipulator.
Generally, the following is known when the master manipulator is an articulated type. When operating the position and orientation of the slave manipulator using the master manipulator, the number of drive axes of the master manipulator is the total of the three position drive axes for determining the position and the three axis of the posture drive axis for determining the orientation. Requires 6 axes. When the structure of the master manipulator is multi-joint type, in order to detect the position and posture of the tip, it is necessary to perform calculation using coordinate conversion from the value of the joint angle of each axis. In general, the calculation of such coordinate conversion puts a load on the control system, and therefore it is desirable to adopt a configuration in which the coordinate conversion is reduced as much as possible. Therefore, if the position drive axis and the attitude drive axis are mechanically separated and all three axes of the attitude drive axis are orthogonal to each other, the number of coordinate conversion calculations can be reduced.

A conventional example of an articulated master manipulator will be described with reference to FIG. The master manipulator 300 includes a base 301, a first hollow cylindrical member 302 on the base 301, and a first link member 307 extending from the side surface of the first hollow cylindrical member. The first hollow cylindrical member 302 is around the J1 axis (about the z axis in FIG. 3) with respect to the base 301, and the first link member 307 is around the J2 axis with respect to the first hollow cylindrical member 302 (see FIG. It rotates around the y-axis in 3). Inside the first hollow cylindrical member 302, potentiometers are attached in the respective directions of the J1 axis and the J2 axis to detect the rotation angles of the J1 axis and the J2 axis. The second link member 308 is connected to the first link member 307, and the second link member 308 is connected to the second link member 308 at the connecting portion.
A hollow cylindrical member 303 is attached. The second link member 308 is configured to rotate about the J3 axis (about the y axis in FIG. 3) with respect to the first link member 307. A potentiometer is attached in the second hollow cylindrical member 303 in the J3 axis direction to detect the rotation angle of the J3 axis. A first L-shaped member 309 is connected to the second link member 308, and a third hollow cylindrical member 304 is attached to a connecting portion between the second link member 308 and the first L-shaped member 309. The first L-shaped member 309 is configured to rotate about the J4 axis (about the y axis in FIG. 3) with respect to the second link member 308. Inside the third hollow cylindrical member 304, a potentiometer is attached in the J4 axis direction to detect the rotation angle of the J4 axis. The first L-shaped member 309 has a second L
The L-shaped member 310 is connected to the first L-shaped member 309 and the second L-shaped member 310.
05 is attached. The second L-shaped member 310 is configured to rotate about the J5 axis (about the z axis in FIG. 3) with respect to the first L-shaped member 309. Second L-shaped member 31
0 has a grip 306 attached to the second L
It is adapted to rotate about the J6 axis (about the y axis in FIG. 3) with respect to the character member 310. In the grip 306, a potentiometer is attached in the J6 axis direction to detect the rotation angle of the J6 axis. First
A balancer 313 is connected to the link member 307 so as to maintain balance with the J2 axis. In addition, the second link member 308 includes an auxiliary link member 311.
The balancer 312 is connected via the shaft to maintain balance with the J3 axis. The articulated master manipulator 300 configured as described above is operated by the operator when the operator operates the grip 306, depending on the operation position, J1
Axis, J2 axis, J3 axis are driven, and J
The 4th axis, J5 axis and J6 axis are driven. The rotation angle of each axis is detected by a potentiometer, and the slave manipulator is driven by using the detection signal as an operation command for the position and orientation of the slave manipulator.

Next, as another conventional example, a master manipulator using a wire stretched in a space (for example, Ito et al., "Examination of a master / slave system for wrist / finger movement by a wire stretched in space", No. 10) The details of the proceedings of the Annual Meeting of the Robotics Society of Japan (October 31, 1992) will be described with reference to FIG. The master manipulator 400 includes a grip 405 and four wires 401, 402, 4 extending from the grip 405.
03 and 404 are provided. Four wires 401,
Reference numerals 402, 403, and 404 extend from the vertices of the cube shown by the dotted line in FIG. 4, and are stretched to form a regular tetrahedron when the vertices are connected. Each wire 401, 402, 40
3, 404 are cylindrical members 40 for winding the wire.
The motors 410, 411, 412, and 413 attached to the cylindrical members 406, 407, 408, and 409 and connected to the cylindrical members 406, 407, 408, and 409 control the tensions of the respective wires to be constant. Grip 405
Is measured by the encoders 414, 415, 416, and 417, the amounts of wire movement L1, L2, L3,
Calculate from L4 as follows. The position of the grip 405 is P (x, y, z), the length of one side of the cube is a, and the lengths of the wires 401, 402, 403, 404 are L1, L2,
When L3, L4, x, y, z is, x = 1 / 4a * ( - L1 2 + L2 2 + L3 2 -L4 2) + a / 2 ...... (1) y = 1 / 4a * (L1 2 + L2 2 ^{-L3 2 -L4 2) + a /} 2 ...... (2) z = 1 / 4a * (- calculated and ^{L1 2 + L2 2 -L3 2 +} L4 2) + a / 2 ...... (3). When the operator operates the grip 405, the master manipulator 400 using the wires configured as above has the wires 401, 402, 40 depending on the operation position.
The length of 3,404 changes. The length of each wire is detected by an encoder, and the slave manipulator is driven by using the detection signal as an operation command for the position of the slave manipulator.

[0005]

However, in general, the articulated master manipulator has a problem in that, in order to secure an operating range, the link length is increased by that much, and the size and weight are increased. was there. Further, in order to detect the position and posture of the tip, it is necessary to perform calculation by using coordinate conversion from the values of each joint angle, and there is a problem that the calculation of this coordinate conversion imposes a load on the control system. On the other hand, in the conventional example of a master manipulator using wires,
There is no problem of the movement range as in the multi-joint type, and the calculation does not require the coordinate conversion as in the multi-joint type, but only the position in the three-dimensional space can be obtained. This method requires at least seven wires to obtain the position and orientation in the three-dimensional space, and there is a problem that it is difficult to stretch the wires so as not to interfere with the operation of the operator. It was The problem to be solved by the present invention is to solve the problems of the conventional techniques, and it is possible to obtain position and orientation information with a small amount of calculation, and to ensure a wide range of motion. The purpose of the present invention is to provide a master manipulator whose position and orientation do not interfere with each other.

[0006]

In order to solve the above problems, the present invention provides a grip having a built-in attitude detection gyro and a grip support for rotatably supporting the attitude of the grip in three directions by an operation of an operator. Section and the grip support portion is moved from at least two points so that the position of the grip support portion can be moved by an operator's operation, and the wire is stretched by winding control by a motor to move the grip support portion into the air. A means for holding, an angle detector for detecting the rotation of each of the motors, a posture data based on the output of the gyro, and a means for using position data based on the output of the angle detector as an operation command of the manipulator. It is characterized by having.

[0007]

With the above-described means, the manipulator operating device of the present invention is configured so that the command relating to the position of the slave manipulator is given by the change amount of the wire length and the command relating to the posture is given by the gyro. It is possible to provide a master manipulator that can obtain position and orientation information with a small amount of calculation without any trouble, can secure a wide range of motion, and that does not interfere with each other.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of the present invention. In FIG. 1, 11, 12, and 13 are wires, 26 is a grip, and 24 and 25 are U-shaped members. Wires 11, 1
2 and 13 intersect at one point, and the U-shaped member 24 is centered at the intersection (around the x-axis in FIG. 1).
It is mounted to rotate. A U-shaped member 25 is rotatably connected to the U-shaped member 24 (around the y-axis in FIG. 1) at two points, and a grip 26 (in FIG. 1) is provided inside the center of the U-shaped member 25. It is rotatably connected (around the z-axis). A gyro (not shown) is mounted in the grip 26, and the grip 26 and the U-shaped member 2 are attached.
4. The rotation axes of the U-shaped member 25 intersect each other perpendicularly at the measurement point of the gyro. Wire 1
The other ends of 1, 12, 13 are cylindrical members 14, 15, 16 respectively.
When the wire intersection is moved, the cylindrical members 14, 15 and 16 are rotated, and the length of the wire between the wire intersection and the cylindrical member is changed. Further, the cylindrical members 14, 15 and 16 are respectively provided with motors 17,
18 and 19 are attached to the wires 11, 12 and
The tension of 13 is kept constant. Motor 1
Encoders 20, 21, 22 are provided in 7, 18, and 19 respectively.
Is attached to detect the rotation angles of the cylindrical members 14, 15 and 16. 23 is a base, 27
Is a balancer. In the master manipulator 10 configured as described above, the operator is in the initial state (wire 11,
From the state where 12 and 13 are on the same plane), the grip 2
Pull 6 to use. When the operator operates the grip 26, the position changes as the length of the wires 11, 12, 13 is detected by the encoders 20, 21, 22.
The posture is detected by a gyro (not shown) in the grip, and the detection signal of this position and posture is used as the operation command of the position and posture of the slave manipulator,
Drive the slave manipulator.

To calculate the position from the wire length, the coordinates are set as shown in FIG. 2 and the position of the wire intersection is P (x, y,
z) and the position of the wire on the motor side are A (0, 0,
-Β), B (0, -α , β), C (0, α, β), when the length of the wire and ^{L1, L2, L3, x 2} + y 2 + (z + β) 2 = L1 2 ...... ……… (4) x ² + (y + α) ² + (z−β) ² = L2 ² … (5) x ² + (y−α) ² + (z−β) ² = L3 ² … (6) Therefore, x, y, and z are x = (L1 ² − (L2 ² −L3 ² ) ² / 16α ² − (2L1 ² −
L2 ² -L3 ² + 2α ² + 8β ² ) ² / 64β ² ) ^1/2
(7) y = (L2 ² -L3 ² ) ² / 4α (8) z = (2L1 ² -L2 ² -L3 ² + 2α ² ) / 8β (9) However, x takes a positive value. The value obtained by offsetting the position of the point P thus obtained from the position of the gyro is used as the position command. As described above, in the manipulator operating device of the present invention, the detection of the position and the posture is completely separated, and the calculation is performed only when obtaining the position. Therefore, the position and the posture information can be obtained with a small amount of calculation. be able to. In this embodiment, the posture is detected by the gyro, but instead of the gyro, an angle detector that detects the rotation angle of the grip is attached to the rotation support shaft of the grip support and the data is used to determine the posture of the grip. May be asked.

[0010]

As described above, according to the present invention, a wide operation range can be obtained without a feeling of discomfort to the operator, and a position and attitude operation command to the slave manipulator can be generated without requiring complicated calculation. There is an effect that can be.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a coordinate diagram for explaining position calculation according to an embodiment of the present invention.

FIG. 3 is a perspective view showing a conventional articulated master device.

FIG. 4 is a perspective view showing a conventional wire master device.

[Explanation of symbols]

 10 Master Manipulator 10 11, 12, 13 Wire 26 Grip 24, 25 U-Shaped Member 14, 15, 16 Cylindrical Member 17, 18, 19 Motor 20, 21, 22 Encoder 23 Base 27 Balancer

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] February 2, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Figure 4

[Correction method] Delete

Claims (2)

[Claims] 1. A grip having a built-in attitude detection gyro, a grip support portion for supporting the posture of the grip so as to be rotatable in three directions by an operator, and a position of the grip support portion for being operated by an operator. Means for holding the grip support part in the air by stretching the wire so that the grip support part is movable from at least two points by winding control by a motor, and an angle for detecting rotation of each of the motors. A manipulator operating device comprising: a detector; and means for using posture data based on the output of the gyro and position data based on the output of the angle detector as operation instructions for the manipulator. 2. A grip, a grip support portion for rotatably supporting the posture of the grip in three directions by an operator's operation, an angle detector A for detecting rotation of the grip in three directions, and an operator. Means for holding the grip support portion in the air by stretching the wire from at least two points on the grip support portion so that the position of the grip support portion can be moved by the operation of 1. Angle detector B for detecting the rotation of each motor
And posture data based on the output of the angle detector A,
A manipulator operating device, comprising means for using position data based on the output of the angle detector B as an operation command for the manipulator.