JPS60131173A - Master/slave type bilateral servo-manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of the Invention] The present invention relates to bilateral servo control in a mask slave type manipulator.

[Prior art and its problems]

When working in places with high radiation levels, a remote control device, or so-called manipulator, is required because the environment is harmful to humans (2), and the operator must move the main part of the device (2). The slave side must perform the work according to the wishes of the worker, and the work status at the time must be accurately communicated to the prime mover side.

In order to achieve this, a pirate servo mechanism is used.

This will be explained by referring to a device equipped with a servo mechanism of the operating force reverse feed type shown in FIG.

Reference numeral 1 designates a mask arm (main moving part) operated by the operator, and reference numeral 2 designates a slave arm (follower part) which performs actual work in conjunction with the master arm 1.

When the worker operates the mask arm 1, the joint angle 0rn changes, and the position Om at that time is converted into an electric signal (2) by the position detector 3. On the other hand, the slave arm 2
If the joint angles Os of the two positions are the same, then the two position detectors 4 convert the electrical signals into (-). These two electrical signals are input to the comparator 5, and a signal proportional to the deviation ゛0m-0s' between Om and O8 is This output signal powers the drive device 8 through the amplifier 9) so that L, Os match Om+=(
It has two effects.

Next (-, slave arm 2 applies 1'F to the work object/
When walking, the torque applied to the object (2) is detected by the torque detector 6 on the slave side, and this signal is transmitted to the torque detector 6 on the slave side.
The drive device 7 is moved through. As a result of this torque signal (2), the drive device 7 attempts to move 0m in the opposite direction to the previous one, so the feeling that the operator side (= slave arm 2) has acted on the object is transmitted.

However, at this time, especially (for two highly rigid objects -C
When the slave arm 2 acts, Os hardly changes because the movement of the slave arm 2 is restrained by the object. In the aforementioned force reversal type bilateral servo system, if the torque applied from the operator 1)) 1 is increased, O
Although m changes further, O5, which is restrained by the object, is no longer able to interlock with this 0■2, and the deviation between 0[n and Os does not shrink.

In other words, when the slave arm is acting on an object, it is difficult for the mask arm side to accurately recognize the position of the slave, even if the sense of force can be recognized.

[Purpose of the invention]

Purpose of this invention (1) Torque feedback caused by the action on the target object (2) Mask arm 1 Reed vertical C: In addition to the sense of force on the slave arm side, it is also possible to To provide a multi-jointed mask slave type servo manipulator that can accurately recognize the position of a slave when the slave is in use.

[Summary of the invention]

The outline of this invention is as follows. Joint angles 0m and Os of the mask arm and slave arm are detected by position detectors, respectively. These two signals then become the inputs of a comparator, and the output from the comparator drives the slave arm driver through an amplifier. From this (2), the slave arm moves in the direction in which the length decreases between Om and 05 (2) and is linked to the mask arm.

(2) The control torque applied by the operator to the mask arm (-) is detected by the torque detector, and the signal is also transmitted through the amplifier 1 to operate the drive device of the slave arm. The vertical axis of the reed arm HIlIt increases the rigidity of visibility and maneuverability from the mask arm side, and as a result, the position of the slave during object action can be accurately recognized.

On the other hand, when the slave arm acts on an object (2), the torque generated by the slave arm (2) is detected by a torque detector, and this signal is passed through an amplifier to move the driver of the master arm. By returning the torque from the arm side to the mask arm side, the operator perceives an accurate sense of force.

〔Effect of the invention〕

This invention has the following effects.

(1) In the conventional force reversal type bilateral servo system, when the joint angle of the 5-mask arm is changed to 0m, the slave
A shape that gives steering torque to the arm side (because it is double-shaped,
Even when the slave arm is acting on a highly rigid object (2), if the torque applied by the operator is increased, Om will change any number of times, making it impossible to accurately recognize the slave position. By adding a line that returns torque from the arm side to the slave arm side, the master
The rigidity of maneuverability seen from A-A 1i1!1 has been increased,
The slave position can be recognized accurately even when acting on highly rigid objects.

(2) In this invention, the torque generated in the mask arm is directly transferred to the slave arm side (2) without taking a -H deviation with respect to the torque signal (1), and the torque generated in the slave arm is Since the force is applied directly to the mask arm side, the operator can recognize an accurate sense of force even when the torque of the partner is balanced.

[Embodiments of the invention]

An embodiment of the present invention will be described with reference to the drawings (1).

FIG. 2 shows a block diagram of an embodiment of the invention.

First, we will describe the operation when the slave arm 2 is not acting on the target object (2). When the operator operates the mask arm 1 (2), the joint angle 0m changes. In this case, 0m is the position detected. On the other hand, the joint angle Os of the slave arm is detected by the position detector 4.

These two electrical signals become the input to the comparator 5, and the joint angle becomes 0.
A quantity ΔO proportional to the deviation between m and Os is output from the comparator. On the other hand, the torque detector 11 detects the steering torque applied by the operator to the mask arm≦2. This torque signal is added to the deviation signal Δ(l1 by the adder 12, and then moves the drive device 8 of the slave arm 2 through the amplifier 9. As can be seen from the figure, the control torque on the mask arm side is applied to the slave arm 2. Since this is a large torque that appears when arm 2 is acting on object f2, the torque signal from the mask arm side is almost zero in this case.

The output of the adder 12 is only 1'tΔO, and the drive device 8 operates so that Os matches Om.

Next, when the slave arm 2 acts on an object, especially a rigid body (one example will be described), even if the operator changes the joint angle On of the mask arm 1, Os will hardly change this time, so the slave arm Torque Ts is generated in arm 2.

This torque is detected in the form of an electrical signal by a torque detector 6 and drives a drive 7 through an amplifier 10. This driving device (2) generates a torque TM in the mask arm 1 that changes the direction (20 m) in the opposite direction to the change in Orn, and this torque (2) causes the operator to notice that the slave arm touches the object. Next, the pilot applies this torque (maneuvering torque T because he applies even more force to avoid losing).
J increases. This torque TM is detected in the form of an electric signal by the torque detector 11, becomes an input to the adder 12, and is added to the position error signal ΔO, which further outputs Os so that the slave arm acts on the object (= the shape of the change). to move the drive device 8. However, since 0s hardly changes, Ts increases further, and as a result, the torque feedback to the master arm 1 increases again.
Two.

In other words, while the slave arm 2 is acting as a rigid body, the joint angle O8 hardly changes.At this time, when the operator on the mask arm side applies torque to further change the joint angle 0m, , since the torque (Om) receives feedback from the slave arm side by a corresponding amount, so Om also hardly changes.

This means that the rigidity of the maneuverability seen from the mask arm side has increased, and unlike the conventional force reversal type, the slave arm is a rigid body (even if there are two actions, the mask arm side adds When the torque is increased, 0m changes and the work stops, making it difficult for the operator to recognize the work situation.

In addition, regarding the torque signal, the deviation is input to the drive device (there is no need to do so, so when the torques of Akira match, the input to the drive device becomes zero and the torque balance is broken). Not at all.

From the above, the operation of the mask arm L on an object produces the same or almost the same force sensation and joint angle 1* information as a direct human action, so the operator can feel very correct Jd. Must be able to operate the i-ni master arm (Ninaru).

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing a conventional force reversal type bilateral re-boot yarn; Fig. 2 is a block diagram of an embodiment of the invention. Master station, 2...Slave station. 3.4...Position detection 2;, 5...Comparator, 6.11
...torque detector, 7,8..., drive device, 9,
■0...Amplifier, 12...Adder.

Claims (1)

[Claims] It has a mask arm with joints for rotating and twisting, such as an elbow and two wrists, and a shape similar to this mask,
A slave arm that operates the mask arm (2) and a target object (2), a position detector that detects the joint angle of each of the mask arm and slave arm, and a comparator that compares these two signals. , a torque detector that detects the steering torque that the operator applies to the mask arm, a torque detector that detects the torque that the slave arm applies to the target object (two), and the output of the torque detector on the mask arm side. (2) an adder for adding the outputs of the aforementioned comparators; (2) an adder for adding up the outputs of this adder; (2) a drive device for driving the slave arm; A mask slave type pirate servo manipulator, comprising a drive device for driving a mask arm.