JPH0976177A - Uniaxial revolution control method of master-slave type manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method improving slave operation by master operation and a revolution operation method in the neighbourhood of a rotational limit of a master arm, to facilitate revolution operation and to reduce labour. SOLUTION: A control method of uniaxial revolution in manipulator operation of a master slave method has a steady revolution mode region (b) making revolutional speed constant and a speed increasing revolution mode region (c) where revolutional speed is variable as regions so as to change speed setting in a region of a master arm.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master-slave manipulator uniaxial turning control method. Specifically, it is an improved operation area of the master arm.

[0002]

2. Description of the Related Art Joystick operation, combined use of slave operation and joystick operation by master operation as one-axis turning operation in a master / slave manipulator, as shown in FIG. 3, slave operation by master operation and rotation limit of master arm It is known that there are three types of operations of turning operation in the vicinity.

[0003]

In the above-mentioned operation method, the two- and three-axis operations by the master arm and the one-axis operation by the joystick are used in combination, so that skill is required for the simultaneous operation of the one, two, and three axes, Because it is difficult to operate the quantity simultaneously,
Great physical fatigue.

In the above operation method, the slave arm can be operated in accordance with the operation amount within the operation range of the master arm, so that it is easy to operate a minute amount. However, outside the operation range of the master arm, the joystick must be operated. Since it is used, the operation at the boundary becomes discontinuous, and it becomes difficult to operate a minute amount.

In the above-mentioned operation method, instead of the joystick of the operation method, the vicinity of the uniaxial operation limit of the master arm is used as the turning control area, but the turning speed is constant. The slave arm is slowly swung by operation to start swiveling at a predetermined swirling speed in the swivel mode area. As shown in FIG. 4, such an operation becomes discontinuous at the area boundary portion, and it becomes difficult to operate a minute amount.

The present invention has been made in view of the above-mentioned prior art, and an object thereof is to provide a control method in which the above-mentioned operation system is improved, thereby facilitating the turning operation and reducing the labor. And

[0007]

The structure of the present invention which achieves such an object is to switch the speed setting depending on the area of the master arm in the control method of the one-axis turning in the master / slave manipulator operation. Characterize.

Here, it is characterized in that the region has a steady turning mode region in which the turning speed is constant and an acceleration turning mode region in which the turning speed is variable. Further, the steady turning mode region is characterized in that the speed immediately before moving to the steady turning mode region is set as the turning speed.

[0009]

FIG. 1 shows an embodiment of the present invention.
As shown in the figure, as the control area of the master arm,
Three areas, a master operation area a, a steady turning mode area b, and an acceleration turning mode area c, are provided to enable fine speed setting by the area of the master arm.

In the master operation area a, the slave arm is directly operated by the master operation. When moving from the master operation area a to the steady turning mode area b, the turning is continued at the turning speed immediately before moving to the steady turning mode area b. This gives the sensation of continuing to operate the master arm and makes the boundary operation continuous.

Further, when moving from the steady turning mode region b to the acceleration turning mode region c, the turning speed is accelerated, and when returning to the steady turning mode region b, turning is continued at the accelerated speed.
In addition, when returning to the master operation area a, deceleration and stop are performed and the operation returns to the master operation.

Therefore, as shown in FIG. 2, the master arm is operated in a master operation area a → steady turning mode area b → acceleration turning mode area c → steady turning mode area b → acceleration turning mode area c → steady turning mode area b. → When moved with the master operation area a, the rotation speed of the slave arm changes continuously and the movement of the slave arm becomes smooth. As a result, the operation near the master arm operation limit can be performed without being aware of the limit. it can. The turning speed is
Refers to the command value.

Further, since the turning speed can be freely set by the combination of the steady turning mode area b and the acceleration turning mode area c, there is an advantage that the operation can be performed according to the skill and movement amount of the operator. There is a mechanical stopper at the boundary between the steady turning mode area b and the acceleration turning mode area c, and it is not possible to move to the acceleration turning mode area c unless it is operated with a certain amount of force.

[0014]

As described above in detail with reference to the embodiments, in the present invention, since the speed setting is switched depending on the area of the master arm, it is not necessary to use any other mechanism, and special skill is required. It becomes possible to operate relatively easily without the need. Further, since the turning speed can be freely set by combining the steady turning mode region and the acceleration turning mode fishing season, it is possible to perform an operation according to the skill and movement amount of the worker. Further, in the steady turning mode region, since the turning is performed at a speed immediately before entering the region, the movement of the slave arm becomes smooth, and an operation near the master arm operation limit can be performed without being aware of the limit.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a master-slave manipulator uniaxial turning control method according to an embodiment of the present invention.

FIG. 2 is a graph showing a relationship between a master arm and a turning speed.

FIG. 3 is an explanatory diagram of a conventional one-axis turning control method for a master / slave manipulator.

FIG. 4 is a graph showing a relationship between a master arm and a turning speed.

[Explanation of symbols]

 a Master operation area b Steady turning mode area c Acceleration turning mode area

Claims (3)

[Claims] 1. A method for controlling uniaxial rotation of a manipulator of a master / slave system, wherein a speed setting is switched depending on a region of a master arm. 2. The manipulator of the master / slave system according to claim 1, wherein the region has a steady turning mode region in which the turning speed is constant and an acceleration turning mode region in which the turning speed is variable. One-axis turning control method. 3. The one-axis turning control method for a master / slave manipulator according to claim 2, wherein the turning speed of the steady turning mode region is a speed immediately before moving to the steady turning mode region. .