JP3137210B2 - Bi-directional master-slave motion control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of transmitting an operating force applied to one moving body to another moving body between moving bodies disposed at distant points, and following the movement of one moving body. The present invention relates to a bi-directional master-slave motion control method for realizing bi-directional master-slave motion in a master-slave mobile body system that operates the other moving body.

[0002]

2. Description of the Related Art One of the conventional master-slave moving body systems is a robot manipulator for extreme work. That is, an operating force applied to a moving body (master moving body) on the operator side is transmitted to a symmetrical moving body (slave moving body) such as a manipulator or a hand at a distant point to perform a copying operation. In addition, in order for the master-slave moving body to be an alternative to a human arm or hand that directly operates the object, a mechanism having a degree of freedom constituted by a plurality of drive joint axes or an equivalent degree of freedom by other driving means is used. It is preferable that the moving body includes a mechanism.

In such a conventional master / slave moving body system, a master / slave relationship is fixed between a moving body on the operator side and a moving body remotely controlled, and is defined as a slave side. The moving object cannot operate the moving object defined as the master side.

[0004] On the other hand, there is a system in which a set of moving bodies is controlled by two-way interaction, such as a system for performing tug-of-war or arm-wrestling between remote locations, but they move on spatial coordinates. It is not a kind of exercise. That is,
An interaction of forces acting in a particular direction, which has limited working applications and is essentially different from performing a master-slave movement from both directions.

[0005]

In the case of a work exchanged between remote locations, it is necessary to assume that an operation request will be made from both operators, so that both can operate the other moving body. There is a need. However, in order to enable the master-slave motion control from both sides in the conventional method, it is conceivable to arrange two systems having the master-slave motion control function in opposite directions. From an economic point of view, it is not economical.

By the way, in remote work for objects that actually exist, the work space is a space that exists irrespective of the distance, and the spatial coordinates of the place where the object that is currently being talked about exists on both sides. Exercise is performed on the basis. That is, unlike a situation in which cooperative work is performed in computer graphics or in a cooperative work space virtually formed by image processing, the work space in motion transitions depending on where the object is.

Here, assuming not only a situation in which the master / slave relationship is fixed as in the extreme operation robot manipulator, but also offices, homes, geographically dispersed production sites, and the like as work spaces. In order to realize the master-slave motion control from the user, it is necessary to have the following two functions. One is that the operator can operate the other moving body from any of the dispersed points, and the other is that the present invention can be applied to a case where a plurality of operators who make operation requests are present at the same time.

For this purpose, it is necessary to simultaneously reverse the master / slave relationship when the workspace changes.
If the master / slave relationship shifts, the operator can work between remote locations by simply recognizing the use of one's own body and the other on the other side, regardless of where the work space exists. .

In addition, when the sequence is viewed in a short time in a collaborative work, a situation in which the existence of a shared topic is ignored and the objects existing in the space of the other party are simultaneously operated in parallel is a problem of coordination with the topic. It is hard to think from the point of view. However, in communication involving exercise, it is expected that a situation in which the mutual action unconsciously occurs and the operations compete with each other.

When such a situation frequently occurs and impairs the workability, a control rule in the case where one operation is requested while the other is in operation, and an operation force in the case where the operator operates, are required. It is necessary to provide a means for distinguishing the external force from the environment generated when the target object hits an obstacle. According to empirical rules based on experiments by the authors, a method in which, when an operator gives up the operation right during an operation, the operation right is transferred to the other operator is suitable as this type of communication rule.
At this time, the method of detecting that the operator has or has abandoned the operation right needs to be a method that the operator does not forget to return.

The present invention provides a bi-directional master / slave motion control method which enables master / slave motion control from both moving bodies based on the above conditions without fixing the master / slave relationship between the two moving bodies. The purpose is to:

[0012]

According to the present invention, there is provided a master-slave motion control method in which a master moving body is moved by a predetermined operating force, and a slave moving body is imitated by following the master moving body. For the force, the operating force and the external force received from the environment are distinguished, and the moving body on which the operating force acts is set as the master moving body, and the other is set as the slave moving body, and the master / slave relationship is shifted mutually. And

[0013]

The method of the present invention is based on the premise that even if both moving bodies are not operated at the same time, or if the operations conflict in some situation, the operation right is passed to one of them according to a predetermined communication rule. Therefore, the system automatically determines that the operating force is detected as the master moving body and the other as the slave moving body, so that the master / slave relationship is dynamically synchronized in synchronization with the moment when the workspace changes. Can be migrated. At this time, the force acting on the master moving body is controlled as the operating force, and the force acting on the slave moving body is controlled as an external force received from the environment.

Therefore, the operation by the operator acts on the master moving body as an operating force to perform a following movement, and causes the slave moving body to act as an operating force given by the master moving body to follow the movement ( Symmetric and similar movements). In this way, by shifting the master / slave relationship between the two moving bodies in a time sharing manner, it is possible to realize bidirectional master-slave movement control.

Further, when the present invention is applied to a collaborative operation for operating an object on the same topic, even in a situation where a plurality of operators make an operation request, the master / slave can be used without forming a master / slave system. By moving the relations in a time-sharing manner, the moving body existing on the other side can be operated from any of the dispersed points.

[0016]

FIG. 1 is a block diagram showing the configuration of a first embodiment of a master-slave moving body system for realizing a bidirectional master-slave movement control method according to the present invention. The configuration of the present embodiment is applied to a moving body in which a drive system using a fluid actuator as a drive source and a motion measurement system are integrated.

In the drawing, a moving body directly operated by an operator A is denoted by A, and a moving body directly operated by an operator B is denoted by B. When the moving body A is the master moving body, the moving body B, which is the slave moving body, performs the imitation movement (symmetric movement or similar movement) of the moving body A. Further, when the moving body B is the master moving body, the moving body A, which is the slave moving body, performs the imitation movement (symmetric movement or similar movement) of the moving body B.

Each force detection system 11 for the moving body A and the moving body B
_A, 11 measurement data _B, each differential pressure detector 21
_A, 21 _B by the operation force F _A, is converted to F _B, giving the bidirectional control unit 23 the pressure control computation unit 22 converts the operating force difference F _t is the difference between them in the joint angle control amount. The bidirectional control unit 23 uses this to determine that the side on which the operating force has acted is the master side, and that the other side is the slave side, and sets the master / slave relationship between the moving body A and the moving body B.

Now, when the operator A holds the predetermined operating portion of the moving body A or moves it with the body, the operating force is recognized and the moving body A is set as the master moving body, and the moving body B is set as the slave moving body. A master / slave relationship is set. In the bidirectional controller 23, the control block routine is dynamically switched according to the transition of the master / slave relationship.

[0020] Here, the operation force F _A, which is detected by the differential pressure detection unit 21 _A of the moving body A is converted to the joint angle control amount corresponding pressure control computation unit 22, the bidirectional controller 23 is the master movement To the drive system 12 _A of the moving object A, which is a human body, the joint angle control amount θ _At
As feedback. Accordingly, the moving body A performs an operation of passively following the operation performed by the operator.

On the other hand, the moving body A
The operation is performed by the motion measurement system 13._AIs the joint angular displacement θ of each axis
_AAnd the coordinate conversion unit 24_ACommunicate to Coordinate converter
24 _AIs the joint angular displacement θ_AIs the coordinate position of the spatial coordinate system
Displacement X_AAnd the coordinate conversion unit 24 on the moving body B side_B
Position displacement amount X output from_BTake the difference with
To the position control calculation unit 25. The position control calculation unit 25 includes:
Coordinate position difference value X in spatial coordinate system_tJoints from the joint coordinate system
Is converted into an angle control amount, and the bidirectional control unit 23
Drive system 12 of moving body B_BHelical angle control amount θ_Btage
And send it out. Thereby, the moving body B can follow the moving body A.
Perform the action.

Next, when the operator B moves with the predetermined operating portion of the moving body B held or attached to the body, the operating force is recognized and the moving body B is set as the master moving body, and the moving body A is set as the slave moving body. A master / slave relationship as a moving body is set. In the bidirectional controller 23, the control block routine is dynamically switched according to the transition of the master / slave relationship. Hereinafter, similarly, the moving body A performs the copying motion of the moving body B.

Here, an example of the configuration of the bidirectional control unit 23 is shown in FIG.
Shown in (1) is the functional configuration, and (2) is the master /
The flow of the joint angle control amounts θ _At and θ _Bt for controlling each moving body in accordance with the slave relation setting is shown.

The bidirectional control unit 23 models the action of the applied operating force, and the action stress checking unit 31 has a function of distinguishing the actual operating force from the external force received from the environment. The acting stress checking unit 31 is configured such that the pressure control calculating unit 22 determines that the operating force difference value F
and joint angle control amount obtained from _t, the position control calculation unit 25 is fitted a joint angle control amount obtained from the coordinate position difference value X _t in a predetermined operational effort model, from the operation force and the environment at each moving body Separate from external force. The operation mode control unit 32
A master / slave relationship is set between the moving body A and the moving body B according to the determination of the action stress collating unit 31. That is, it is determined which of the moving body A and the moving body B has been operated by the operator, and the operated body is set as the master moving body.

The control block switching unit 33 includes an operation mode control unit.
When the control unit 32 uses the moving body A as a master moving body,
As shown in FIG. 2 (2), the pressure control calculation unit 22 calculates the operation force difference.
Value F _tOf the joint angle control amount obtained from the_A
Angle control amount θ given to_AtOutput as position control calculation
The unit 25 calculates the coordinate position difference value X_tThe joint angle control amount obtained from
Drive system 12 for moving body B_BAngle control amount θ given to_BtAs
Output. In addition, the operation mode control unit 32
In the case of a star moving body, as shown in FIG.
The force control calculator 22 calculates the operation force difference value F_tJoint angle control obtained from
Drive system 12 for moving body B_BAngle control amount θ given to
_BtAnd the position control calculation unit 25 outputs the coordinate position difference value.
X_tOf the joint angle control amount obtained from the_ATo
Given joint angle control amount θ_AtOutput as

By adopting such a configuration, the master / slave relationship can be dynamically shifted by the processing of the bidirectional control unit 23. Therefore, it is possible for both to operate the other moving body.

By using a fluid actuator as a drive source as in this embodiment, the pressure displacement of the fluid can be measured and detected as an acting force.
And the motion measurement system 13 can be integrated, but if the fluid actuator as the drive system is further provided with a pressure measurement function, the force detection system 11 can be used as it is. can do.

The drive system 12 for the master-slave moving body
Is a position and pressure conversion system, the data measured by the force detection system 11 is easy to handle as shown in the present embodiment. That is, by using a fluid actuator, it is possible to directly measure as a differential pressure with respect to a control target amount, and since it has a spring characteristic, it can be detected as a displacement amount of a position with respect to an applied operating force. Control can be realized relatively easily. Further, the control calculation function for that can be simplified.

Further, each moving body may be provided with a function capable of feeding back a force sensation, and various sensory information measuring systems and sensory information presenting systems according to work purposes. In this embodiment, the drive system 12 using the fluid actuator as a drive source is used. However, depending on the purpose of use, work environment, or work accuracy, the work environment is adversely affected in terms of harmony with humans. If not, a drive system using a servo motor, a drive system using pressure control of an elastic medium containing a fluid, a drive system using the plastic deformation characteristics of a shape memory alloy, a drive system using an ultrasonic motor, etc. may be used. it can. When a servomotor is used, it is necessary to attach a force sensor to the operator's hand and divide the resultant force and torque data measured there into stress components in the joint driving directions.

FIG. 3 is a block diagram showing the configuration of a second embodiment of the master-slave moving body system for realizing the bidirectional master-slave movement control method of the present invention. In this embodiment, bidirectional control is realized by obtaining information for mutual transition of the master / slave relationship from the operation mode detection unit provided in each moving body.

In the figure, contact sensors 41 _A and 41 _B are provided on the moving body A and the moving body B, respectively, and operation mode detecting sections 42 _A and 42 _B for detecting the operated one from the output thereof.
The configuration is the same as that of the first embodiment shown in FIG. 1 except that the output is input to the operation mode control unit 32 of the bidirectional control unit 43.

Here, an example of the configuration of the bidirectional control unit 43 is shown in FIG.
Shown in The operation mode control unit 32 controls the control block switching unit 3
3 is not transmitted from the acting stress collation unit 31,
The configuration to take directly from the operation mode detection unit 42 _A, 42 _B of each mobile body.

Hereinafter, the bidirectional master-slave motion control operation in the second embodiment will be described with reference to FIG.
Note that S indicates an operation mode detection state, and N indicates an operation mode non-detection state. Here, initially located on the operating mode detecting unit 42 _A is operated mode detection condition of the moving body A, it is assumed that the operation mode detection unit 42 _B of the moving body B is in the operation mode undetected state.

As described above, the condition for the master / slave relationship to shift mutually is based on the premise that the operating operator gives up the operating right and then transfers the operating right to the other operator. Based on reciprocal transition rules. At this time,
It is necessary to be able to abandon the operation right without performing a special return operation.

When the system is started, the control variables for executing the master / slave motion are initialized. When the operation mode detection unit 42 _A of the moving body A is operated mode detection state S, performs master motion to passively follow the operation force of the moving body A the operator by the motion control law, the movement body B moving body A And perform a symmetric slave movement.

Next, the operation mode detector 42 _{A of} the moving body _A
There will be an operation mode undetected state N, when the operation mode detection unit 42 _B of the moving body B is operating mode detection state S, the master / slave relationship proceeds, the operation moving body B of the operator by the motion control law A master movement that passively follows the force is performed, and the moving body A performs a symmetric slave movement with the moving body B. Then, the operation mode detection unit 42 _B of the moving body B is in the operation mode undetected state N, when the operation mode detection unit 42 _A of the moving body A is operated mode detection state S, the process proceeds again master / slave relationship . The above operation is repeated as long as the system is continued.

By the way, in the method using the information of the operation mode detecting section as a condition for the mutual transition of the master / slave relationship, the method of distinguishing from the external force by the operation model of the operation force shown in the first embodiment is used. Less responsive compared to,
Highly reliable master / operator according to operation demands of both operators
The transition of the slave relationship can be realized.

The contact sensor 41 can be constituted by an optical sensor or the like attached to the operating grip or other contact part. In such a configuration, when the operator touches the moving body for operation, the operation mode detection units 42 of both the moving bodies detect it, and the operation mode control unit 32 of the bidirectional control unit 43 detects the state from those detection states. The master / slave relationship is dynamically set according to the mutual transition control rule.

In use, in order to distinguish an external force from the environment or a contact unintended by the operator from a contact caused by an operation, the contact sensor 41 has a detection unit having a diameter of about several millimeters at a plurality of points of the contact portion. A method is effective in which the optical sensors are mounted in a distributed manner, and the operation mode detection unit 42 identifies the output by ANDing the outputs. In addition, it is desirable that each sensor is attached according to the contact shape of the body at the time of operation.

In addition, by setting a mutual transition control rule in the case where the operator simultaneously requests the operation right in the bidirectional motion control, the operation force acting on both moving bodies and the external force received from the environment are recognized. be able to.

[0041]

As described above, according to the present invention, the master / slave relationship can be shifted between the moving bodies at a plurality of points in a time-division manner. Can be realized. That is, irrespective of the distance, persons at physically distant points can operate a moving object in a space where the other party exists in a time-division manner.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of a first embodiment of a master-slave moving body system for realizing the method of the present invention.

FIG. 2 is a diagram showing a configuration example of a bidirectional control unit 23.

FIG. 3 is a block diagram showing the configuration of a second embodiment of a master-slave vehicle system for realizing the method of the present invention.

FIG. 4 is a diagram showing a configuration example of a bidirectional control unit 43.

FIG. 5 is an explanatory diagram of a bidirectional master-slave motion control operation in the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Force detection system 12 Drive system 13 Motion measurement system 21 Differential pressure detection part 22 Pressure control calculation part 23 Bidirectional control part 24 Coordinate conversion part 25 Position control calculation part 31 Working stress collation part 32 Operation mode control part 33 Control block switching part 41 Touch sensor 42 Operation mode detection unit 43 Bidirectional control unit

Continuation of the front page (56) References JP-A-4-130904 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 3/00-3/20 B25J 3/00-3 / 04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19/06

Claims (1)

(57) [Claims] 1. A master-slave exercise control method for causing a master exerciser to exercise with a predetermined operation force and imitating a slave exerciser to follow the master exerciser, wherein a force detected by each exerciser is calculated based on the operation force and the environment. Distinguishing from the external force to be received, the moving body on which the operating force acts is defined as a master moving body,
A bidirectional master-slave motion control method, characterized in that a master / slave relationship is mutually shifted with the other being a slave moving body.