JP2824134B2 - Control device of different structure master-slave manipulator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control device for a master / slave manipulator having a different structure.

[Conventional technology]

A conventional control device for a master / slave manipulator having a different structure is disclosed in Japanese Patent Application Laid-Open No. 60-207783.

FIG. 5 is a configuration block diagram showing an example of a conventional control device for a different-structure master-slave manipulator. In FIG. 5, the control device 200 is always the master manipulator 100
Sensing the joint angle and torque of the
The position and posture of the grip 10 and the forces and moments used for the grip 10 are coordinate-transformed into the position and posture of the working space coordinate system as the reference and the forces and moments.At the same time, the joint angle and torque of the slave manipulator 300 are also sensed, and The position and orientation of the effector 400 and the forces and moments acting on the end effector 400 are also coordinate-transformed into the same position and orientation and the forces and moments in the same workspace coordinate system. Then, the drive control amount of the joint of the slave manipulator 300 is inversely transformed from the workspace coordinate system to the slave manipulator 300 so that the position and posture of the end effector 400 are the same as the position and posture of the grip 10 in the same workspace coordinate system. The drive control amount of the joint of the master manipulator 100 is inversely transformed from the workspace coordinate system so that the output and the force and moment acting on the grip 10 become the same as the force and moment acting on the end effector 400. To the master manipulator 100.

[Problems to be solved by the invention]

The above prior art is initialization control for determining the relationship between the position and orientation of the grip of the first master manipulator and the end effector of the slave manipulator,
Further, no consideration has been given to switching control of the slave manipulators when a plurality of slave manipulators are operated by one master manipulator, and there is a problem in operability.

An object of the present invention is to provide a control device for a different-structure master-slave manipulator having an easy-to-operate initialization control function for determining the position and orientation of the grip of the first master manipulator and the end effector of the slave manipulator. It is an object of the present invention to provide a control device for a master / slave manipulator having a different structure, which has an easy-to-operate slave manipulator switching control function when the slave manipulator is operated by one master manipulator.

[Means for solving the problem]

In order to achieve the above object, a control device for a different-structure master-slave manipulator of the present invention has an initialization function for determining the relationship between the position and orientation of the first master-slave grip and the end effector of the slave manipulator. As a neutral position setting function to set the position of the grip to neutral,
This is provided with a posture matching function for setting the posture of the grip and the posture of the end effector to be the same.

In a system in which one or a plurality of slave manipulators having a plurality of end effectors are operated by one master manipulator, a control device has an end effector selection function and a neutral grip. A position setting function and a posture matching function for setting the posture of the grip and the posture of the selected end effector to be the same are provided.

[Action]

The neutral position setting function of the control device of the different structure master-slave manipulator controls and drives the master manipulator at the time of initialization, for example, when the initialization start switch is turned on, so that the position of the grip of the master manipulator becomes the neutral position, and at the same time, the posture coincides. The function is to drive and control the master manipulator so that the posture of the grip is the same as the posture of the end effector.At this time, if the operator's hand is holding the grip lightly, the grip position is in the neutral position and the posture is the end effector. It is automatically set to the corresponding posture, so that master-slave operation can be performed immediately at the end of this initialization.In addition, since the grip position is in the neutral position, there is a sufficient range of movement in the up, down, left, right, front and back directions Because it has good operability without shall be such as to interrupt the operation quickly become close operation range limit.

In a system in which one or more slave manipulators having a plurality of end effectors are switched and operated by one master manipulator, an end effector selection function is provided as an initialization function in addition to the neutral position setting function and the posture matching function. Even if there are many end effectors, initialization is performed for the selected end effector to be operated from now on, the grip position is the neutral position, and the posture is the posture corresponding to the selected end effector Automatically set, so that the master-slave operation can be performed immediately on the selected end effector after setting, and the grip position is in the neutral position. Nearby You may like to interrupt the operation Te it is possible to improve the operability not become.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a block diagram showing an embodiment of a control device for a master / slave manipulator having a different structure according to the present invention. In FIG. 1, a master manipulator 100 having a grip 10 and a slave manipulator 300 having an end effector 400 are connected to a control device 200. Here, the control device 200 has a grip 1 as an initialization function.
FIG. 5 differs from the conventional example in FIG. 5 in that a neutral position setting function 201 of zero and a posture matching function 202 are provided.

FIG. 2 is a block diagram showing another embodiment of the control device of the master / slave manipulator having a different structure according to the present invention. FIG. 2 shows a control device for a master-slave manipulator having a different structure when a single master manipulator switches and operates a slave in a system including a plurality of end effectors and a plurality of slave manipulators. In FIG. 2, a master manipulator 100 having a grip 10, a first slave manipulator 301 having a first end effector 401, and a second slave manipulator having a second end effector 402 and a third end effector 403 are shown. 302 is connected to the control device 200. The same applies to a case where a large number of end effectors and slave manipulators are connected to the control device 200. Here, the control device 200 is provided with an end effector selection function 203 in addition to the neutral position setting function 201 and the posture matching function 202, and the end effector selection function 203 may be, for example, a changeover switch. Alternatively, if a series of work flows are determined in advance, it may be automatically selected by a program or the like, but it is a function of selecting an end effector to be operated from a large number of end effectors. . The posture matching function 202 in the control device 200 functions for the end effector selected by the end effector selection function 203.

FIGS. 3 (a) and 3 (b) are an external view and an internal configuration diagram showing an embodiment of the master manipulator 100 having the grip 10 shown in FIGS. 1 and 2. FIG. FIG. 3 (a),
(B) shows an example of a polar coordinate type manipulator that can be designed to be the smallest, and this type of master manipulator is shown.
In the case of 100, the storage space is small, but the effective range of the grip 10 is generally small, and the operation amount of the end effector 400 is expanded several times with respect to the operation amount of the grip 10, and the scale conversion function is controlled. Is also generally applied, but it can be said that the master manipulator is the most suitable form for applying the initialization function of the present invention from the viewpoint of effectively using the small possible range of the grip 10 from the neutral position. FIG. 3A shows an external view of the master manipulator 100, and FIG. 3B shows an internal configuration diagram thereof.

3 (a) and 3 (b), an actuator for detecting the position of the grip 10 of the master manipulator 100 and controlling the position of the grip 10 includes a vertical swing actuator 101 housed in a cover 181 and a horizontal swing actuator 102.
And the telescopic actuator 103. Here, in order to facilitate the coordinate conversion operation, the vertical swing actuator 101 is used.
The rotation axis of the actuator 102, the rotation axis of the horizontal swing actuator 102, and the expansion and contraction axis of the expansion and contraction tube 194 connected to the expansion and contraction actuator 103 are orthogonal to each other at one center of the cross shaft 192. The telescopic tube 194 has a telescopic actuator 103 mounted on a frame 193 fixed to the casing side of the vertical swing actuator 101 and a ball screw 111.
The ball nut 1 with the telescopic tube 194 is guided by the guide bar 112 by rotating
The telescopic operation is performed by moving 13 in the telescopic direction.
The ball screw 111 and the guide bar 112 are housed in a cylindrical tube 183 connected to the extension mechanism 182. Telescopic tube 1
At the end of 94 are installed actuators 104, 105, 106 for detecting the attitude of the grip 10 and controlling the attitude of the grip 10,
There is a torsional actuator 104 that twists around the telescopic axis of the telescopic tube 194, a frame 195 protruding from the actuator 104 has a vertical swing actuator 105, and an output shaft side frame 196 of the actuator 105 has a horizontal swing actuator 106, The grip 10 is attached to the output shaft of the actuator 106.

Also, when the operator grips the grip 10 of the master manipulator 100, a gripper 12 on the master side is provided so that the grip 10 can be opened and closed with just the thumb and forefinger, and depending on the end effector of the slave manipulator, a push button switch Since the operation of the end effector is suitable for some, a push button switch 13 for operating the end effector is provided above the grip 10. The proper use of the gripper 12 and the push button switch 13 is determined in advance according to the type of the end effector.
An actuator 11 for detecting the opening / closing amount of the gripper 12 and controlling the opening / closing drive is mounted below the grip 10. When the coordinate system 15 provided on the grip 10 is defined as shown in FIG. 3 (b), the y-axis of the coordinate system 15 also coincides with the rotation axis of the vertical swing actuator 105 in order to facilitate the coordinate conversion operation. In this configuration, the Z axis coincides with the rotation axis of the horizontal swing actuator 106, and the x axis coincides with the extension axis of the telescopic tube 194 and the rotation axis of the torsion actuator 104. Each actuator 104, 105,
From 106, the cables 184, 185, and 186 are combined with the cables of the other actuators 101, 102, and 103 in the cover 181, and are connected to the control device 200 by the power and control cables 188.

FIG. 4 shows three types of end effectors 401, shown in FIG. 2 in a work space coordinate system 5, which is a reference of FIGS. 1 and 2.
FIG. 4 is a conceptual diagram illustrating a state in which 402 and 403 are at predetermined positions and postures with respect to X, Y, and Z axes. In FIG. 4, end effectors 401 and 403 are grippers that are provided on the slave manipulators 301 and 302 in FIG. 2 and perform opening and closing operations, respectively, and an end effector 402 is mounted on the slave manipulator 302 and has a rotating tip. Such a tool. Here, for the three types of end effectors 401, 402, and 403, coordinate systems 451, 452, and 453 provided for the respective end effectors are defined as the xyZ axes shown in FIG. When a force and torque sensor is provided to form a bilateral master / slave manipulator, the master manipulator 100 is mounted on a predetermined portion of the grip 10 and the slave manipulators 301 and 302 are mounted on predetermined portions of the end effectors 401, 402 and 403, respectively.

Next, in describing the details of the operations of the neutral position setting function 201 and the posture matching function 202 of the control device 200 in FIG. 2, the end effectors 401, 402, and 403 in the work space coordinate system 5 serving as a reference shown in FIG. Each position and attitude and actual slave manipulators 301 and 30
It is assumed that the relationship with each joint angle in 2 is set in advance in the form of a coordinate conversion matrix. Note that this relationship
Although it is possible to make it possible to reset the setting in the middle at 200, it is assumed that the setting has already been made for the sake of simplicity.

The neutral position setting function 201 of the control device 200 shown in FIG. 2 drives and controls the manipulator 100 so that the position of the grip 10 becomes the neutral position at the time of initialization, for example, when the initialization start switch is turned on. Here, in the case of the master manipulator 100 shown in FIGS. 3A and 3B, the origin position of the coordinate system 15 of the grip 10 as shown in FIG. 3B may be defined as a neutral position. It is not always necessary to do this, but as described above, it is a position exactly in the middle of the operation range of the actuators 105, 106, 104 of up and down, left and right, and expansion and contraction operation, and the position is also the operation arm movable range or operation arm for the operator. It is desirable to keep it at an intermediate position in the operation space.

The drive of the master manipulator 100 is controlled at the time of initialization as described above.At this time, in a system having a plurality of end effectors, a case where the end effector selection function 203 selects, for example, the end effector 401 will be described. Does not operate, and the origin position of the xyZ axis of the coordinate system 15 of the grip 10 in FIG. 3B in the work space coordinate system 5 serving as a reference in FIG. 4 is selected as the end effector selected in the same work space coordinate system 5. It is set to the origin position of the x, y, Z axes of the coordinate system 451 of 401. The setting here is used when obtaining the origin position of the coordinate system 15 of the grip 10 in the work space coordinate system 5 from the joint angles of the master manipulator 100, that is, the position detection data of the actuators 101, 102, and 103 in FIG. Is to set a coordinate transformation matrix to be used. Also here, the place where the slave manipulator 301 or the master manipulator 100 is installed is on a moving body or the like,
When the place where the master manipulator 100 is installed and the place where the slave manipulator 301 is installed relatively move or rotate, the coordinate conversion matrix is set so that the amount of movement or rotation can be detected. It is preferable that the operation is provided at least in a place where the rotation, that is, the master manipulator 100 is installed, for example, in a place where the frame 191 in FIG. 3B is fixed. It is necessary to incorporate the relationship between the posture (orientation) between the user's coordinate system and the work space coordinate system 5.

The attitude matching function 202 of the control device 200 shown in FIG. 2 operates during the same initialization as described above, and the master manipulator 10
The orientation of the coordinate system 15 of the grip 10 of 0 is the coordinate system 451 of the selected end effector 401 of the slave manipulator 301.
The master manipulator 100 is driven and controlled so as to match the direction of. At this time, the drive control amounts of the actuators 104, 105, and 106 of the grip 10 for matching are known at least in the relationship between the coordinate system of the operator and the orientation of the work space coordinate system 5 when the master manipulator 100 is installed as described above. Therefore, it is determined as a predetermined joint angle. At this time, the opening / closing degree of the gripper 12 of the master manipulator 100 is also determined by the end effector 401 of the slave manipulator 301.
May be automatically set to a predetermined opening / closing amount corresponding to the opening / closing degree of the hand.

After the neutral position setting function 201 and the posture matching function 202 of the control device 200 operate at the time of initialization as described above, the grip 10 of the master manipulator 100 is operated.
Is the neutral position and its posture (orientation)
Is set in the attitude (orientation) of the end effector 401 of the slave manipulator 301 to be operated, and the grip 10 in the same workspace coordinate system 5 as the coordinate system 451 of the end effector 401 in the workspace coordinate system 5.
And the coordinate transformation matrix for obtaining the position and orientation (orientation) of the grip 10 in the work space coordinate system 5 from the joint angle of the master manipulator 100 is set. State. Of course, based on the joint angle of the slave manipulator 301, the coordinate system 451 of the end effector 401 in the work space coordinate system 5
Since the coordinate transformation matrix for obtaining the position and orientation (orientation) of the bilateral master / slave manipulator shown in FIG. 5 as a conventional technique can be controlled as described above. Becomes

The detailed description of the operations of the neutral position setting function 201 and the attitude matching function 202 of the control device 200 shown in FIG. 2 is based on the assumption that the end effector selecting function 203 selects the end effector 401 in a system having a plurality of end effectors 401, 402, 403, etc. The operation is performed as an example, but the details of this operation are described in the case where the neutral position setting function 201 and the attitude matching function 202 of the control device 200 in FIG. 1 perform initialization processing in a system having one end effector 400 of the slave manipulator 300. The same is true for. In the system of FIG. 2, for example, the same applies to the initialization processing when the state of the end effector 401 of the slave manipulator 301 is switched to the end effector 402 of the slave manipulator 302 by the end effector selection switch or the like as the end effector selection function 203, for example. For example, when the end effector 402 is selected, the coordinate system 452 of the end effector 402 and the coordinate system 15 of the grip 10 of the master manipulator 100 match in the workspace coordinate system 5,
In this case, for example, when the push button switch 13 on the upper part of the grip 10 is pressed, the drill at the tip of the end effector 402 is rotated. Even when the end effector 403 is selected, the end effector 401
Is the same as

Also, the neutral position setting function 201 and the attitude matching function 202 of the control device 200 shown in FIGS. 1 and 2 are limited because the operation range of the master manipulator 100 is narrow while the operation range of the slave manipulator is still sufficient. This is effective when you operate up to the point and want to operate further. The reason is that the initialization as described above is performed at that time and a new coordinate conversion matrix is reset. At this time, since the posture of the grip 10 is the same before and after initialization, the neutral position setting function 201 is activated and the master manipulator 100 is gripped.
Grip when operating in 10 neutral positions
It is better to control the posture of 10 to keep it constant. In this case, the operator feels that only the master grip 10 is performing a shift operation with respect to the slave, so that the operability is good. Of course, master-slave operation control cannot be performed during such initialization operation.Therefore, the initialization start switch prepares a shift switch etc. so that the operator can fully recognize that, and the neutral position is set only when it is pressed. The function 201 or the like may be operated, or automatically operated when the end effector switch is switched or when the operation of the master manipulator 100 reaches the limit point of the operation range and the limit switch or the like is turned on. It may be.

〔The invention's effect〕

According to the present invention, when the neutral position setting function and the attitude matching function of the control device are activated, the master-slave operation can be performed immediately at the end of the initialization, and since the grip position is in the neutral position, even if the control device is operated in a small size. Even in the case of a master manipulator with a narrow range, it has a sufficient operation range in the vertical, horizontal, and front-rear directions, so the operation is not immediately stopped near the limit of the operation range and the operation is not interrupted. There is an effect that initialization control with good operability suitable for a manipulator can be performed.

Also, in a system having a plurality of slave manipulators and a plurality of end effectors, the neutral position setting function and the attitude matching function operate in the same manner for the end effector selected by the end effector selection function of the control device. There is an effect that switching control of the slave manipulator having good operability suitable for the manipulator can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a control device for a master / slave manipulator having a different structure according to the present invention.
FIG. 3 is a block diagram showing another embodiment of a control device for a master / slave manipulator having a different structure according to the present invention. FIGS. 3 (a) and 3 (b) show one embodiment of the master manipulator of FIGS. 1 and 2. External view and its internal configuration diagram,
FIG. 4 is a conceptual diagram exemplifying a state of predetermined positions and postures of a plurality of end effectors in the work space coordinate system of FIG. 2, and FIG. 5 is a configuration showing an example of a control device of a conventional master / slave manipulator having a different structure. It is a block diagram. 5: Reference workspace coordinate system, 10: Grip, 15
…… Coordinate system provided on the grip, 100 …… Master manipulator, 200 …… Control device, 201 …… Neutral position setting function, 202 …… Position matching function, 203 …… End effector selection function, 300,301,302 …… Slave manipulator, 400,401,402,403 …… End effector, 451…
... A coordinate system provided on the end effector 401, 452 a coordinate system provided on the end effector 402, 453 a coordinate system provided on the end effector 403.

Claims (2)

(57) [Claims] 1. A control device for a master-slave manipulator having a different structure comprising a master manipulator having a grid and a slave manipulator having an end effector, a neutral position setting function for setting a grip position to a neutral position at the time of initialization, A control device for a master / slave manipulator having a different structure, comprising: a posture matching function for setting a posture to be the same as a posture of an end effector. 2. A control device for a master / slave manipulator having a different structure comprising a master manipulator having a grid and one or a plurality of slave manipulators having a plurality of end effectors, wherein the position of the grip is set to neutral at the time of initialization. A neutral position setting function, an end effector selecting function of selecting an end effector to be operated from a plurality of end effectors, and a posture matching function of setting a grip posture to be the same as the posture of the selected end effector. A master-slave manipulator control device having a different structure.