JPH0796189B2 - Master / slave manipulator control method - Google Patents

Description

The present invention relates to a method of controlling a master / slave manipulator.

<Prior Art> A master / slave manipulator is a robot capable of remotely controlling a slave manipulator in the same manner with respect to an operation of the master manipulator. In this case, in order to move the slave manipulator smoothly with respect to the operation of the master manipulator,
The operation amount of the master manipulator and the operation amount of the slave manipulator are usually placed in a one-to-one relationship. Further, even when the operation amount of the slave manipulator is changed with respect to the operation amount of the master manipulator, the ratio between the operation amount and the operation amount is controlled to be always constant.

That is, as shown in FIG. 6, the master manipulator 1
In the slave manipulator 2, the position data P _M and P _S of the data block 3 in which the master position data is P _M and the slave position data is P _S are switched by the switch 4 and shown in, for example, P _S / The relationship of P _M = 1 or the relationship of P _S / P _M > 1 shown in the block 6 is set, and the slave operation command 7 is generated based on this relationship to control the slave manipulator 2. Therefore, the master manipulator 1 and the slave manipulator 2 are blocked.
It will be placed in a proportional relationship such as 1: 1 or 1: any value as shown in 5, 6.

Specifically, as shown in FIG. 7 to FIG. 9, in the master manipulator, the movement of the upper arm 9 _M centering on the shoulder joint 8 _M θ _1M , ± θ _2M , the lower arm 11 centering on the elbow 10 _M 11 Movement of _M ± θ _3M ,
The operation consisting of ± θ _4M can be performed. On the other hand, taking a dual-arm manipulator with a body as an example, as shown in FIGS. 10 to 12, in the slave manipulator, the movement of the upper arm 9 _S around the shoulder joint 8 _S centering on the body 12 θ _1S , ± θ _2S, elbow 10 _S lower arm 11 _S operation ± theta _3S center, the operation consisting of ± theta _4S, carried out in response to a master manipulator. In this case, the slave manipulator for the master manipulator,
As described above, it is possible to operate not only the same amount but also an arbitrary ratio.

<Problems to be Solved by the Invention> In the dual-arm work of the slave manipulator 2, the shaded areas shown in FIGS. 10 to 11 are the most frequently used areas. Therefore, although the hand is frequently moved within this working range, the slave manipulator 2
If the lower arm 11 _S interferes with the body 12 at, for example, the point A, the hand may not be able to move inward and work may be impossible.

And, in order to enable this work, Figs.
As shown in the figure, first, unless the upper arm 9 _S is moved outward and forward to project the elbow 10 _S outward and forward, the hand cannot be moved to the working position while avoiding the interference at the point A. Become.

However, in order to take the posture of the slave manipulator shown in FIGS. 13 to 15, the master manipulator side must have the same posture as shown in FIGS. 16 and 17. For operating position of the master manipulator is the same orientation as the slave manipulator would impose unreasonable posture the operator arm poor operability 9 _M
The work efficiency is reduced and the operator's labor is increased due to the fatigue caused by lifting.

Further, assuming that the posture of the slave manipulator shown in FIGS. 13 to 15 is adopted, if the map shown in block 6 of FIG. 6 is adopted, the operation amount of the master manipulator is changed to 16th.
As shown in FIGS. 17A and 17B, it can be made small and not small, in other words, the slave manipulator can be largely moved at a constant ratio with respect to the operation amount of the master manipulator.

However, in this control method, when performing minute positioning control on the slave side, it is necessary to operate the master manipulator with a small operation amount by a ratio, which makes the operation difficult and reduces workability. There is.

INDUSTRIAL APPLICABILITY The present invention is a master / slave system that does not impose an unreasonable posture on an operator, reduces work efficiency and labor, and does not cause difficulty in operation or workability without forcing an operator to perform an unreasonable operation. The purpose is to provide a control method for a manipulator.

<Means for Solving the Problems> According to the present invention that achieves the above object, the control law 2 that takes the positional relationship between the master manipulator and the slave manipulator and the control law that takes the positional relationship between both the proportional portion and the non-proportional portion. And having an arbitrary position of the master manipulator as a reference point in the non-proportional portion in the above-mentioned control law 1, as the operation amount of the master manipulator increases from the reference point, the slave from the position corresponding to the reference point increases. A range in which the operation amount of the manipulator is controlled to be larger than the operation amount of the master manipulator, and the operation amount of the slave manipulator is controlled to be larger than the operation amount of the master manipulator according to the above-mentioned control rule 1. , The operation amount of the master manipulator and the slave manipulator with an arbitrary position as a reference point. It is characterized in that control is performed by the above-mentioned control law 2 so that the movement amount becomes the same, and the position of the slave manipulator is matched with the operation start point when returning from the control law 2 to the control law.

<Operation> The operation is further increased from the reference point of the master manipulator,
In other words, the operation amount of the slave manipulator is made larger than the operation amount of the master manipulator before the posture gradually becomes unreasonable for the operator, so that the workability of the operator is improved and the same amount operation can be performed for the minute operation. It is the one.

<Example> Here, an example of the present invention will be described with reference to FIGS. 1 to 5.

First, the entire control system will be described with reference to FIG. 5. The operation amount of the master manipulator 1 is sent to the signal converter 21 by the position sensor 20, while the operation amount of the slave manipulator 2 is sent by the position sensor 22. Sent to 21.
Further, based on the difference between the operation amount of the position sensor 20 and the operation amount of the position sensor 22, the slave drive device 23 is moved by a command from the signal converter 21 to keep the slave manipulator 2 in a fixed relationship with the master manipulator 1. .

The signal converter 21 is connected to the control computer 26 via the input / output interface 24 and the computer interface 25,
The control computer 26 obtains the relationship between the operation amount of the position sensor 20 and the operation amount of the position sensor 22 on a predetermined map, and outputs a drive command for the slave drive device 23.

FIG. 1 shows a control method of an embodiment until a drive command for a slave manipulator is output. In FIG. 1, in the master manipulator 1 and the slave manipulator 2, the master position data P _M and the slave position data P _S are fetched by the data block 3, and this data is switched.
At 27, the processing is switched to control law 1 and control law 2.

When the switch 27 is turned to the B side, the process of control law 2 is performed. This control law 2 sets the slave position data P _S in a 1: 1 relationship (or a fixed proportional relationship) with respect to the master position data P _{M. In} FIG. 1, the slave manipulator matches the master manipulator in the same manner. A map 28 is given to move and move. That is, the position of the master manipulator is θ ₁ , ± θ ₂ , ± θ ₃ , in FIGS.
Within the range of ± θ ₄ , the slave manipulators are processed so as to have the same motion amount.

On the other hand, when the switch 27 is turned to the A side, the switch 27
In block 29, it is further determined whether A is on the A side or is returned from the B side to the A side. When the switch 27 is on the A side, the map is given in block 30, and when the switch is returned from the B side to the A side, the current slave position in control law 1 and control law 2 is determined in block 31. It is determined that the control rule 2 is executed if they are judged to not match, and the control rule 1 is executed when they match. This is because the relative positional relationship between the master manipulator and the slave manipulator is not shifted. Therefore, when the slave positions match according to the determination of block 31, it is limited to the case where the slave manipulator is located at the origin O ₁ of the control law 2 on the P _S / P _M map of blocks 28 and 30.

Now, when the switch 27 is turned on to the A side, or when the switch 27 is switched from the B side to the A side and the slave positions of the control rules 1 and 2 match, the process of the control rule 1 is performed.

In block 30 of this control law 1, the proportional portion (-θ _O ~ θ
_O) processing and non-proportional section (theta _O or more, the processing of - [theta] _O below) is executed. That is, in FIGS. 2 to 4, the positions of the master manipulator are θ ₀₁ , ± θ ₀₂ , ± θ ₀₃ , ± θ.
Within _04, theta at block 30 of FIG. 1 ₀ ~ -
Since it corresponds to the range of θ _O , the master position data P _M and the slave position data P _S are proportional to each other, and the master manipulator and the slave manipulator are controlled to move by the same amount.

On the other hand, if the position of the master manipulator is θ ₁ , ± θ ₂ , ± θ ₃ ,
Within the range of ± θ ₄ , the slave operation amount is given such that the operation amount of the slave manipulator is increased as the position data of the master manipulator is increased. That is, in block 30 of FIG. 1, θ _{0 to} θ or −
is in the range of θ _{0 ~-θ} as the operation amount of the slave manipulator than the amount of operation of the master manipulator is increased, moreover, theta _0, the - [theta] ₀ and the operation amount is increased as a reference point theta, approaches - [theta] It is controlled to be as large as possible. In other words, in other words, in this non-proportional portion, the slave manipulator can be largely operated even when the master manipulator is operated in an easy posture when the slave manipulator is operated.

After the processing of the control rules 1 and 2, the slave manipulator 2 is operated by giving a slave operation command according to the maps of the blocks 28 and 30 in the block 7.

<Effects of the Invention> As described above, according to the present invention, when the operator passes a certain reference point, the operation amount of the slave manipulator is greatly changed as compared with the operation amount of the master manipulator. Since it eliminates an unnatural posture and reduces operation fatigue and makes work easier, work efficiency is improved and longer work is possible, and the operation amount of the master manipulator is proportional to the operation amount of the slave manipulator. It is also possible to improve operability and work efficiency.

[Brief description of drawings]

1 to 5 are views for explaining an embodiment of the present invention, FIG. 1 is a block diagram of a control method, and FIGS.
The figure is an explanatory view of the operation range of the master manipulator, FIG. 5 is a block diagram of the entire control system, FIG. 6 is a block diagram of a conventional control method, and FIGS. 7 to 9 are explanatory views of the operation range of the master manipulator. 10 to 12 are explanatory diagrams of the operating range of the slave manipulator, FIGS. 13 to 15 are explanatory diagrams of the posture of the slave manipulator, and FIGS. 16 and 17 are explanations of the unreasonable posture of the master manipulator. It is a figure. In the figure, 1 is a master manipulator, 2 is a slave manipulator, 27 is a switch, 28 is a block of control law 2, 29 is a decision block, and 30 is a block of control law 1.

Claims (1)

[Claims] 1. A control law 2 for taking a proportional relationship between a master manipulator and a slave manipulator, and a control law 1 for taking a positional relationship between both a proportional portion and a non-proportional portion. With an arbitrary position of the master manipulator as a reference point, as the operation amount of the master manipulator increases from the reference point, the operation amount of the slave manipulator from the position corresponding to the reference point becomes larger than the operation amount of the master manipulator. Further, in accordance with the above-mentioned restriction rule 1, in the range in which the operation amount of the slave manipulator is controlled to be larger than the operation amount of the master manipulator, the operation amount of the master manipulator is set with an arbitrary position as a reference point. And the slave manipulator are controlled by the above limit rule 2 so that the operation amount is the same. And to so that, moreover limitation rule 1 from the limitation rule 2
A method of controlling the master / slave manipulator in which the position of the slave manipulator is matched with the operation start point when returning to.