JP2004009188A - Master device and master slave device - Google Patents

Abstract

An object of the present invention is to realize a master device and a master-slave device having an angle control member at an ideal position for avoiding problems due to deterioration of stability, physical interference, and the like.
A first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, a fourth joint, and a base member are provided. The first joint is located closest to the base member among the four joints, the first arm is connected to the first joint and the second joint, and the second arm is The third joint is connected to the first joint and the third joint, the third arm is connected to the third joint and the fourth joint, and the fourth arm is connected to the second joint and the fourth joint. And a master device having a free end on a side opposite to the fourth joint when viewed from the second joint, wherein an angle for controlling an angle formed by the second arm and the third arm is provided. A control member is provided on the third joint.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a master device and a master slave device.
[0002]
[Prior art]
The master-slave device prepares two devices having a similar structure, and uses one device, that is, the master device as an operation terminal, and uses the other device, that is, the slave device as a working device, to position the operator. Can perform necessary work even if it is away from the work site. When the operator operates the master device, a desired operation is performed via the slave device that operates according to the operation. In particular, research has been rapidly promoted in recent years, since it exerts great power in remote operation when the work site is in a bad environment and remote medicine when a patient is in a remote place.
[0003]
Further, the master-slave device may have a function of presenting tactile information or force information due to contact between the slave device and an object to an operator of the master device. With this function, work information such as work reaction force can be fed back to the master operator. Then, in order to realize the function, the master device is provided with a control member for controlling the position and movement of the master device.
[0004]
[Problems to be solved by the invention]
By the way, it is necessary to pay particular attention to the position where the control member is provided. For example, if the control member is provided at a position distant from the base member of the master device, the stability of the control member deteriorates due to its own weight. Placing the members in close proximity causes physical interference. The present invention has been made in view of such a problem, and has as its object to realize a master device including the control member at an ideal position and a master-slave device based on the above viewpoint.
[0005]
[Means for Solving the Problems]
The main present invention includes a first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, a fourth joint, and a base member. Wherein the first joint is at a position closest to the base member among the four joints, the first arm is connected to the first joint and the second joint, and the second arm Is connected to the first joint and the third joint, the third arm is connected to the third joint and the fourth joint, and the fourth arm is connected to the second joint and the fourth joint. A master device having a free end opposite to the fourth joint when viewed from the second joint, for controlling an angle between the second arm and the third arm. The master device is characterized in that an angle control member is provided at the third joint.
[0006]
Further, the main present invention is operated by an operator, and includes a first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, and a fourth arm. Having a joint and a base member, wherein the first joint is located at a position closest to the base member among the four joints, and the first arm includes the first joint and the second joint. The second arm is connected to the first joint and the third joint, the third arm is connected to the third joint and the fourth joint, the fourth arm, A master device connected to the second joint and the fourth joint and having a free end on the side opposite to the fourth joint when viewed from the second joint; and operation of the master device by the operator. And a slave device that operates according to the condition that the slave device is in contact with an object. In the state, a torque t1 applied to the master device by the operation of the operator is obtained, and the slave device is controlled such that a torque t3 applied to the slave device follows a torque t2 corresponding to the torque t1. The master-slave device according to claim 1, wherein an angle control member for controlling an angle between the second arm and the third arm is provided at the third joint.
[0007]
Other objects and features of the present invention will become apparent from the description of the present specification and the accompanying drawings.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
=== Example configuration of master device ===
First, an outline of a configuration example of a master device according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram schematically illustrating an example of the configuration of the master device 102. In FIG. 1, the vertical direction is indicated by an arrow. For example, the third joint 118 is disposed at an upper portion of the master device 102, and the base member 122 is disposed at a lower portion of the master device 102. I have.
[0009]
In FIG. 1, the master device 102 includes a first joint 114, a second joint 116, a third joint 118, a fourth joint 120, and a base member 122. A first arm 104 connected to the joint 116, a second arm 106 connected to the first joint 114 and the third joint 118, and a third arm connected to the third joint 118 and the fourth joint 120 A fourth arm 110 connected to the second joint 116 and the fourth joint 120 and having a free end 124 on the opposite side of the fourth joint 120 as viewed from the second joint 116; And a fifth arm 112 connected to the pace member 122.
[0010]
The base member 122 is a member for supporting a group of arms connected to each other, and the fifth arm 112 is connected to the member.
[0011]
The first arm 104 has one end connected to the second arm 106 and the fifth arm 112 via the first joint 114, and the other end connected to the fourth arm 110 via the second joint 116. And it is configured. The angle formed by the first arm 104 and the fifth arm 112 can be changed by rotating the first arm 104 about the first joint 114.
[0012]
The second arm 106 has one end connected to the first arm 104 and the fifth arm 112 via the first joint 114, and the other end connected to the third arm 108 via the third joint 118. And it is configured. The angle formed between the second arm 106 and the fifth arm 112 can be changed by rotating the second arm 106 about the first joint 114.
[0013]
The third arm 108 has one end connected to the second arm 106 via the third joint 118 and the other end connected to the fourth arm 110 via the fourth joint 120. I have. The angle formed by the third arm 108 and the second arm 106 can be changed.
[0014]
The fourth arm 110 is configured such that one end thereof is connected to the third arm 108 via the fourth joint 120, and the other end is a free end 124. The fourth arm 110 is connected to the first arm 104 via a second joint 116 provided between the fourth joint 120 and the free end 124. The angle formed by the fourth arm 110 and the first arm 104 can be changed by rotating the fourth arm 110 about the second joint 116. Also, the angle formed by the fourth arm 110 and the third arm 108 can be changed.
The fifth arm 112 has one end connected to the base member 122 and the other end connected to the first arm 104 and the second arm 106 via the first joint 114. The first joint 114 is located closest to the base member 122 among the four joints.
[0015]
Further, a rectangle connecting the first joint 114, the second joint 116, the third joint 118, and the fourth joint 120 forms a parallelogram. That is, the distance between the first joint 114 and the second joint 116 is equal to the distance between the third joint 118 and the fourth joint 120, and the distance between the first joint 114 and the third joint 118 is It is equal to the distance between 116 and the fourth joint 120. The angle between the first arm 104 and the second arm 106 is equal to the angle between the third arm 108 and the fourth arm 110, and the angle between the second arm 106 and the third arm 108 is It is equal to the angle formed by the fourth arm 110 and the fourth arm 104.
[0016]
In FIG. 1, the master device 102 further includes a first potentiometer 126 and a second potentiometer 128 as angle detection members, a first torsion spring 130 and a second torsion spring 132 as urging members, and an angle control member. A first clutch 134 and a second clutch 136.
[0017]
The first potentiometer 126 is provided at the fourth joint 120 and has a function of detecting an angle formed by the third arm 108 and the fourth arm 110 (hereinafter, also referred to as an angle θa1).
The second potentiometer 128 is provided at the first joint 114, and has a function of detecting an angle formed by the second arm 106 and the fifth arm 112 (hereinafter, also referred to as an angle θb1).
The first torsion spring 130 is provided at the third joint 118 and has a function of urging the second arm 106 and the third arm 108.
The second torsion spring 132 is provided at the first joint 114 and has a function of urging the second arm 106 and the fifth arm 112.
The first clutch 134 is provided at the third joint 118 and has a function of controlling the angle between the second arm 106 and the third arm 108.
The second clutch 136 is provided at the first joint 114 and has a function of controlling the angle between the second arm 106 and the fifth arm 112.
[0018]
=== Configuration Example of Master-Slave Device and Its Operation ===
<<<< Example of configuration of master-slave device >>>>
Next, a configuration example and operation of a master-slave device using the above-described master device 102 as a master will be described with an example. FIG. 2 is an overall view of the master-slave device according to the present embodiment. First, the configuration of the master-slave device will be described.
[0019]
2, the master-slave device includes a master 32, a slave 44, and a control device 76. As the master 32, the above-described master device 102 is used. Its configuration is as described above. As the slave 44, a slave device 202 having a configuration similar to that of the master device 102 is used.
[0020]
The slave device 202 includes a first joint 214, a second joint 216, a third joint 218, a fourth joint 220, and a base member 222, and further includes a first joint 214 and a second joint 216. A first arm 204 connected, a second arm 206 connected to the first joint 214 and the third joint 218, a third arm 208 connected to the third joint 218 and the fourth joint 220, A fourth arm 210 connected to the two joints 216 and the fourth joint 220 and having a free end 224 on a side opposite to the fourth joint 220 as viewed from the second joint 216; a first joint 214 and a pace member 222; And a fifth arm 212 connected to the master device 102. These configurations are the same as those already described for the master device 102, as shown in FIG.
[0021]
The slave device 202 has a first potentiometer 226 and a second potentiometer 228 as angle detection members, and a first torsion spring 230 and a second torsion spring 232 as biasing members. Are the same as those already described for the master device 102, as shown in FIG. The first potentiometer 226 is provided at the fourth joint 220 and has a function of detecting an angle formed between the third arm 208 and the fourth arm 210 (hereinafter, also referred to as an angle θa3). The second potentiometer 228 is provided at the first joint 214 and has a function of detecting an angle formed by the second arm 206 and the fifth arm 212 (hereinafter, also referred to as an angle θb3). The first torsion spring 230 is provided at the third joint 218 and has a function of urging the second arm 206 and the third arm 208. The second torsion spring 232 is provided on the first joint 214 and has a function of urging the second arm 206 and the fifth arm 212.
[0022]
The slave device 202 has a first motor 234 and a second motor 236 as angle control members instead of the first clutch 134 and the second clutch 136. The first motor 234 is provided at the third joint 218 and has a function of controlling the angle between the second arm 206 and the third arm 208. The first motor 234 has a mechanism for detecting the angle of the motor (hereinafter, also referred to as angle θa2). The second motor 236 is provided at the first joint 214 and has a function of controlling the angle between the second arm 206 and the fifth arm 212. The second motor 236 also has a mechanism for detecting the angle of the motor (hereinafter, also referred to as angle θb2).
[0023]
The control device 76 includes a t1 calculation unit 78, a t3 calculation unit 80, a t1 / t2 conversion unit 38, a holding command unit 40, a switching command unit 42, and a motor control unit 50. The motor control unit 5 includes an angle control unit 50a It has a torque control unit 50b.
[0024]
Information signals of the angles θa1 and θb1 detected by the first potentiometer 126 and the second potentiometer 128 are input to the t1 calculator 78 and the angle controller 50a. The information signals of the angles θa2 and θb2 detected by the angle detection mechanism of the first motor 234 and the angle detection mechanism of the second motor 236 are input to the t3 calculation unit 80. The information signals of the angle θa3 and the angle θb3 detected by the first potentiometer 226 and the second potentiometer 228 are input to the t3 calculator 80 and the angle controller 50a.
[0025]
The t1 calculator 78 receives the information signals of the angles θa1 and θb1 detected by the first potentiometer 126 and the second potentiometer 128, calculates the torques ta1 and tb1, and outputs the information signals of the calculated torques ta1 and tb1 to t1. / T2 converter 38. A method for calculating the torques ta1 and tb1 will be described later.
[0026]
The t3 calculation unit 80 detects the information signals of the angles θa2 and θb2 detected by the angle detection mechanism of the first motor 234 and the angle detection mechanism of the second motor 236, and the information signals detected by the first potentiometer 226 and the second potentiometer 228, respectively. The information signals of the angles θa3 and θb3 are received, the torques ta3 and tb3 are calculated, and the information signals of the calculated torques ta3 and tb3 are sent to the switching command unit 42 and the torque control unit 50b. A method for calculating the torques ta3 and tb3 will be described later.
[0027]
The t1 / t2 converter 38 receives the information signals of the torque ta1 and the torque tb1 from the t1 calculator 78, calculates the torque t2 corresponding to the torque t1, and outputs the information signals of the torque ta2 and the torque tb2. Regarding the relationship between the torque t1 and the torque t2, the two may be in an equal relationship, the two may be in a proportional relationship such as t2 = k · t1, or the relationship of t2 = F (t1) may be satisfied. As described above, t2 may be a function of t1.
[0028]
The switching command unit 42 receives the information signals of the torque ta3 and the torque tb3 from the t3 calculating unit 80, and gives a command to the holding command unit 40 and the motor control unit 50 based on the information signals. Although the details will be described later, when the torques ta3 and tb3 exceed the predetermined values, it is determined that the slave 44 is in contact with the object 52, and the holding command unit 40 and the torque control unit 50b are operated. Conversely, when the torques ta3 and tb3 do not exceed the predetermined values, it is determined that the slave 44 is not in contact with the object 52, and the angle control unit 50a is activated and the holding command unit 40 is not activated. Alternatively, when the state in which the slave 44 is in contact with the object is changed from the state in which the slave 44 is in contact with the object, the holding command unit 40 is operated to release the holding of the master 32 by the holding force of the clutch.
[0029]
The angle control unit 50a includes information signals of the angles θa1 and θb1 detected by the first potentiometer 126 and the second potentiometer 128, and the information signals of the angles θa3 and θb3 detected by the first potentiometer 226 and the second potentiometer 228, respectively. A control signal is sent to the first motor 234 and the second motor 236 so that the information signal is received and the angle θa3 follows the angle θa1 and the angle θb3 follows the angle θb1.
[0030]
The holding command unit 40 receives a command from the switching command unit 42 and sends a control signal to the first clutch 134 and the second clutch 136 so as to hold the master 32 by the holding force of the clutch.
[0031]
The torque controller 50b receives the torque ta2 and the information signal of the torque tb2 output from the t1 / t2 converter 38 and the information signal of the torque ta3 and the torque tb3 output from the t3 calculator 80, and converts the torque ta3 to the torque ta2. , A control signal is sent to the first motor 234 and the second motor 236 so that the torque tb3 follows the torque tb2.
[0032]
<<<< Operation example of master-slave device >>>>
Next, an operation example of the master-slave device based on the above configuration will be described below with reference to FIG. 2 and FIG. FIG. 3 is a flowchart showing the operation of the master slave device.
[0033]
This flowchart starts when the operator operates the master 32 (step START). For example, the operator grasps the free end 124 by hand and operates the master 32 to move downward. On the other hand, the slave 44 operates downward according to the operation of the master 32 by the operator. By these operations, the angle between the arms in each joint changes. Hereinafter, the procedure will be described.
[0034]
First, the torque ta3 is calculated by detecting the angle θa3 by the first potentiometer 226 and the angle θa2 by the angle detection mechanism of the first motor 234, that is, by detecting the amount of expansion and contraction of the first torsion spring 230. . Similarly, the torque tb3 is calculated by detecting the angle θb3 by the second potentiometer 228 and the angle θb2 by the angle detection mechanism of the second motor 236, that is, by detecting the amount of expansion and contraction of the second torsion spring 232. (Steps S2 and S4). ta3 = kr (θa2- (θa3 + 180 °)) and tb3 = kr (θb2-θb3) (kr: torsion spring coefficient). The reason why the calculation formula of ta3 is different from the calculation formula of tb3 by 180 ° is that the joint provided with the first potentiometer 226 is different from the joint provided with the first motor 234. is there. Note that the above calculation is performed by the t3 calculation unit 80.
[0035]
Information signals of the detected torques ta3 and tb3 are input to the switching command unit 42. The torque ta3 and the torque tb3 are compared with a predetermined value in the switching command unit 42. When the torque ta3 and the torque tb3 exceed the predetermined value, the torque ta3 and the torque tb3 move in the "Y" direction, otherwise, in the "N" direction. Proceed (step S6).
[0036]
Here, the meaning of step S6 will be described. When the slave 44 is in contact with the object 52, the slave 44 receives a reaction force from the object 52. Therefore, when the torque ta3 and the torque tb3 exceed the predetermined values, it is determined that the slave 44 is in contact with the object 52. When the torque ta3 and the torque tb3 are equal to or less than the predetermined values, the slave 44 contacts the object 52. It is determined that it has not been performed. The predetermined value may be set for either the torque ta3 or the torque tb3, or may be set for both. The numerical values to be selected and set are determined in consideration of the inertial force and frictional force of the system of the master-slave device.
[0037]
For a while after the operation of the master 32 is started, the slave 44 operating according to the operation of the master 32 is kept out of contact with the object 52. Therefore, the result of the determination in step S6 is "N", and a command is issued not to operate the holding command unit 40, and the motor control unit 50 is operated to operate the angle control unit 50a and not to operate the torque control unit 50b. Send a command. Then, the process proceeds to the next step S8.
[0038]
Step S8 means a procedure for releasing the holding of the master, but this step is skipped because the master 32 is not yet held.
[0039]
Next, the angles θa1 and θb1 of the master 32 are detected by the first potentiometer 126 and the second potentiometer 128, and the angles θa3 and θb3 of the slave 44 are detected by the first potentiometer 226 and the second potentiometer 228 (step S10). .
[0040]
Information signals of the detected angles θa1, θb1, θa3, and θb3 are sent to the angle control unit 50a. The angle control unit 50a controls the first motor 234 according to the value of θa1−θa3, that is, so that the angle θa3 follows the angle θa1, and the first motor 234 controls the position of the slave 44. Similarly, the angle control unit 50a controls the second motor 236 according to the value of θb1−θb3, that is, so that the angle θb3 follows the angle θb1, and the second motor 236 controls the position of the slave 44. Is (Step S12).
Next, the procedure returns to step S2, and when the slave 44 is not in contact with the object 52, the steps from S2 to S12 are repeated.
[0041]
When the operator operates the master 32, the slave 44 moves so as to follow the master 32 by repeating the steps S2 to S12. As described above, when the operator operates the master 32, the slave 32 follows the master 32 and operates as described above. However, after a while, the slave 44 comes into contact with the object 52.
[0042]
Returning to the flowchart of FIG. 3, after the torque ta3 and the torque tb3 are calculated (step S4), this information signal is input to the switching command unit 42, and the torque ta3 and the torque tb3 are compared with predetermined values (step S4). S6). Here, when the slave 44 is in contact with the object 52, that is, when it is determined that the torques ta3 and tb3 exceed the predetermined values, the result of the determination in step S2 is "Y", A command is sent to operate the holding command unit 40, and a command is sent to the motor control unit 50 to operate the torque control unit 50b and not to operate the angle control unit 50a.
[0043]
Then, the holding command unit 40 receives the command from the switching command unit 42 and sends a control signal to the first clutch 134 and the second clutch 136 so as to hold the master 32 by the holding force of the clutch (step S14). As a result, the master 32 is held by the holding force of the clutch.
[0044]
Next, the torque ta1, the torque tb1, the torque ta3, and the torque tb3 are calculated. The calculation method is as follows.
As for the calculation of the torques ta1 and tb1, the angles θa1 and θb1 immediately after the master 32 is held by the holding force of the clutch are set in the storage areas θa10 and θb10, respectively, and the angles θa1 and θb1 detected thereafter are set. By calculating the difference, the torque ta1 and the torque tb1 are detected. That is, by detecting the amount of expansion and contraction of the torsion spring 128 and the torsion spring 130, the torque ta1 and the torque tb1 are calculated. The torque ta1 = kr (θa1-θa10) and the torque tb1 = kr (θb1-θb10) (kr: torsion spring coefficient). Note that the above calculation is performed by the t1 calculation unit 78.
The calculation of the torques ta3 and tb3 is the same as in steps S2 and S4.
[0045]
The procedure of calculating the torque t1 and the torque t3 will be described below.
First, a counter is prepared and reset at the time of START, that is, the value is set to zero (step S1). If it is determined in step S6 that the slave is in contact with the object, 1 is added to the counter. (Step S15). Next, the aforementioned angles θa1, θb1, θa2, θb2, θa3, and θb3 are detected (step S16).
[0046]
Next, the procedure is changed depending on whether or not the value of the counter is 1 (step S17). If the value of the counter is 1, the angles θa1 and θb1 of the master 32 are stored in the areas of the angles θa10 and θb10 (step S18), the torques ta1 and tb1 are set to 0, and the torques ta3 and tb3 are set to the angles θa2. , Θb2, θa3, θb3 (step S19). If the value of the counter is 2 or more, the torques ta1, tb1 are calculated based on the angles θa1, θb1, θa10, θb10, and the torques ta3, tb3 are calculated based on the angles θa2, θb2, θa3, θb3 (step S20). ). In addition, the counter is reset after the master 32 is released from holding since the slave is in contact with the object from the state in which the slave is in contact with the object and may be in a state in which the slave is in contact with the object again. (Step S9).
[0047]
Among the torques ta1, tb1, torque ta3, and torque tb3 thus calculated, the information signals of the torques ta1 and tb1 are sent to the t1 / t2 conversion unit 38, and the torques ta1 and tb1 are respectively The torque is converted into a torque ta2 and a torque tb2 (step S22).
[0048]
The converted information signals of the torques ta2 and tb2 and the calculated information signals of the torques ta3 and tb3 are sent to the torque control unit 50b. The torque control unit 50b controls the first motor 234 in accordance with the value of ta2−ta3, that is, so that the torque ta3 follows the torque ta2, and the first motor 234 controls the torque of the slave 44. Similarly, the torque control unit 50b controls the second motor 236 in accordance with the value of tb2−tb3, that is, so that the torque tb3 follows the torque tb2, and the torque control of the slave 44 is performed by the second motor 236. (Step S24).
[0049]
Next, the procedure returns to step S2, and when the slave 44 is in contact with the object 52, the steps from S2 to S24 are repeated.
[0050]
In addition, in the repetition of this step, the operation of the master 32 by the operator may return the slave 44 to a state in which the slave 44 is not in contact with the object 52. In such a case, the following procedure is performed. After the torque ta3 and the torque tb3 are calculated (step S4), this information signal is input to the switching command unit 42, the torque ta3 and the torque tb3 are compared with predetermined values, and the slave 44 is not in contact with the object 52. The state is determined (step S6). The switching command unit 42 sends a command to operate the holding command unit 40 to release holding by the clutch, and sends a command to the motor control unit 50 to operate the angle control unit 50a and not to operate the torque control unit 50b. . Then, the process proceeds to the next step S8. In this case, since the master 32 operated by the operator is held by the holding force of the clutch, the holding command unit 40 releases the holding by the holding force of the clutch. Then, a command is sent to the first clutch 134 and the second clutch 136 (step S8). Subsequent procedures are the same as those in steps S10 and S12 described above.
[0051]
=== About the position where the first clutch and the second clutch are provided ===
Next, the positions on the master device 102 where the first clutch and the second clutch are provided will be considered with reference to FIG. FIG. 4 is a diagram schematically illustrating an example of the configuration of the master device 102.
4, the first joint 114 is at point A, the second joint 116 is at point B, the third joint 118 is at point C, the fourth joint 120 is at point D, and the fifth arm 112 is at A node with the member 122 is set to a point O, the size of ∠OAC is set to α, the size of ∠OAB is set to β, and the size of ∠CAB is set to γ. As described above, since the square ACDB forms a parallelogram, the sizes of ∠ACD, ∠CDB, and ∠ABD are 180 ° -γ, γ, and 180 ° -γ, respectively.
[0052]
First, focusing on point A in FIG. 4, since the sum of α, β, and γ is 360 °, if two of these three values are determined, the other value is automatically determined. Can be Further, since ∠CAB, ∠ACD, ∠CDB, and ∠ABD are in the above relationship, if one of these corner sizes is determined, the other three corner sizes are automatically determined. Can be Accordingly, if one of three angles of ∠CAB, ∠ACD, ∠CDB, ∠ABD, ∠OAC, and ∠OAB is determined, ∠CAB, ∠ACD, ∠CDB, ∠ABD , ∠OAC and ∠OAB are all determined.
[0053]
From another point of view, the following can be said. That is, although the master device 102 is held by the holding force of the clutch as described above, one of the three corners of ∠CAB, ∠ACD, ∠CDB, ∠ABD, and ∠OAC and ∠OAB, If the two corners are held by the clutch, the master device 102 will be held.
[0054]
Here, further consideration will be given to the angle held by the clutch. First, consider the case where two corners of ∠OAC and ∠OAB are held by a clutch. In this case, holding of the master device 102 can be realized as described above. Since it is provided at the joint, there is a possibility that a problem that physical interference occurs between the two clutches or with other members may occur. A similar problem may occur when two angles of 角 OAC and ∠CAB are held by a clutch, and when two angles of ∠CAB and ∠OAB are held by a clutch.
[0055]
Next, considering the case where the two corners of ∠OAC and ＢCDB are held by the clutch, it is possible to realize the holding of the master device 102 as described above in this case as well. In the case of holding the clutch, it is necessary to provide a clutch at the fourth joint 120, so that the clutch is provided at a position distant from the base member of the master device, and the stability of the master device 102 is deteriorated by the weight of the clutch. Problems can arise. A similar problem may occur when ∠ABD is held by a clutch instead of ∠CDB or when ∠OAB is held by a clutch instead of ∠OAC. On the other hand, when ∠ACD is held by the clutch instead of ∠CDB, holding of the master device 102 can be realized, and the above-mentioned disadvantages do not exist.
[0056]
That is, a first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, a fourth joint, and a base member, The first joint is at a position closest to the base member among the four joints, the first arm is connected to the first joint and the second joint, and the second arm is The third joint is connected to the first joint and the third joint, the third arm is connected to the third joint and the fourth joint, and the fourth arm is connected to the second joint and the fourth joint. An angle control member for controlling an angle formed by the second arm and the third arm in a master device which is connected and has a free end on a side opposite to the fourth joint when viewed from the second joint; However, the master device, which is provided at the third joint, An advantage in that an angle control member in an ideal position to avoid problems with sexual deterioration or physical interference.
[0057]
In the above description, as an example of the control of the angle between the arms by the angle control member, the holding of the angle between the arms by the clutch has been described as an example. However, the control between the arms by a motor such as an ultrasonic motor will be described later. The angle may be maintained. In this case also, the above-mentioned effect is naturally maintained. Further, as will be described later, the angle formed between the arms by a motor such as an ultrasonic motor may be changed. Also in this case, the above effect is maintained.
[0058]
=== Other Embodiments ===
As described above, the master device and the like according to the present invention have been described based on one embodiment. However, the above embodiments of the present invention are for facilitating understanding of the present invention, and do not limit the present invention. . The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.
[0059]
In the above embodiment, the master device is a master-slave device including a master operated by an operator and a slave that operates according to the operation of the master by the operator, wherein the slave contacts an object. A master-slave device in which the torque t1 applied to the master by the operation of the operator is determined, and the slave is controlled so that the torque t3 applied to the slave follows a torque t2 corresponding to the torque t1; However, the present invention is not limited to this. For example, it may be used as the master of a master-slave device controlled by a normal bilateral control system such as a symmetrical type, a reverse feed type, and a force feedback type.
[0060]
However, while maintaining the advantages of the bilateral control method, which can present force and tactile sensation to the master operator, the disadvantages of the bilateral control method, for example, the complexity of the control system and the resulting increase in cost, oscillation, and phase In the embodiment described above, it is possible to avoid the occurrence of delay and the difficulty of control of realizing an appropriate control system in consideration of the necessity of compensating for the inertial force and frictional force of the slave device, and the like. Is more desirable.
[0061]
In other words, in terms of presenting a force sense and a tactile sense to the operator of the master, which is positioned as an advantage of the bilateral control method, the torque t3 applied to the slave follows the torque t2 corresponding to the torque t1 applied to the master by the operator. By controlling the slave to make it possible, force sense and tactile sense can be presented to the master operator, that is, the reaction force received from the object by the master operator when the slave comes into contact with the object can be received as a force sensation.
[0062]
Further, regarding the complexity of the control system, which is a disadvantage of the bilateral control system, and the costs associated therewith, the torque t1 applied to the master by the operator is determined, and the torque t3 applied to the slave is determined by the torque t1. By a simple control procedure in which the slave is controlled so as to follow the torque t2, simplification of the control system and cost reduction can be achieved. In particular, even when the slave is in contact with an object, the state of the slave can be changed. The control of realizing an appropriate control system that takes into account the occurrence of oscillations and phase delays due to the need to continuously control the master by feedback, and the need to compensate for the inertial force and frictional force of the slave device, etc. Difficulty can also be avoided.
[0063]
Further, in the above-described embodiment, a unilateral control method has been described as an example of a control method in a state where the slave is not in contact with an object, but a bilateral control method may be used. That is, the master device is a master-slave device including a master operated by an operator and a slave that operates according to the operation of the master by the operator, and in a state where the slave is not in contact with an object. In a state in which the slave is in contact with an object, a torque t1 applied to the master by the operation of the operator is obtained, and a torque t3 applied to the slave is converted to the torque t1. The master may be used as the master of a master-slave device in which the slave is controlled to follow the corresponding torque t2, or may operate according to the master operated by an operator and the operation of the master by the operator. A master-slave device having a slave that is not in contact with an object In the state, the control is performed by a normal bilateral control method. When the slave is in contact with an object, a torque t1 applied to the master by the operation of the operator is obtained, and the torque t3 applied to the slave is determined by the torque t3. The master may be used as the master of a master-slave device in which the slave is controlled to follow a torque t2 corresponding to t1.
[0064]
Further, in the above embodiment, the master device is a master-slave device including a master operated by an operator and a slave that operates according to the operation of the master by the operator, wherein the slave is an object. In the contact state, a torque t1 applied to the master by the operation of the operator is obtained, and the slave is controlled so that a torque t3 applied to the slave follows a torque t2 corresponding to the torque t1, and the slave is controlled. The master-slave device that determines that the slave is in contact with the object when the torque t3 applied to the master exceeds a predetermined value is used as the master, but the present invention is not limited to this. . The method of determining that the slave is in contact with the object may be, for example, a method that focuses on the angle between the slave and the object, or a method that uses a sensor that senses the contact state.
[0065]
However, since the torque t3 is also acquired in steps S18 and S20 described above, by determining the presence or absence of contact based on the magnitude of the torque, the acquisition means can be shared by both. The above embodiment is more desirable. Further, the above-described embodiment is more preferable in that it is not necessary to prepare a special sensor for detecting a contact, and it is possible to perform a design in consideration of the inertia force and frictional force of the system.
[0066]
Further, in the above embodiment, the master device is a master-slave device including a master operated by an operator and a slave that operates according to the operation of the master by the operator, wherein the slave is an object. In the contact state, while holding the master operated by the operator, the torque t1 applied to the master by the operation of the operator is obtained, and the torque t3 applied to the slave is determined according to the torque t1. The angle control member is used as the master of a master-slave device in which the slave is controlled to follow the torque t2, and the angle control member forms an angle between the second arm and the third arm for holding the master. It was decided to hold. That is, the master-slave device according to the above embodiment holds the master operated by the operator by the holding force of the clutch as an example of the angle control member when the slave is in contact with the object. However, the present invention is not limited to this.
[0067]
However, the master is held by the holding force of the clutch provided in the master, and a similar operation state is created between the master and the slave, that is, a state in which both the master and the slave are almost stopped, and the master of the force sense and the tactile sense is generated. The above-described embodiment is more preferable in that a visual sensation can be presented to the master operator in addition to the presentation to the operator.
[0068]
Further, in the above-described embodiment, the angle control member is a clutch, but is not limited to this. For example, an actuator such as a motor may be used.
However, since the clutch has a high holding force, the above-described embodiment is more preferable in that this feature can be utilized in configuring a master device, and further, cost reduction can be realized.
[0069]
Further, the angle control member may be an ultrasonic motor.
In this case, the master device is used as the master of a master-slave device controlled by a normal bilateral control method such as a symmetric type, a force reverse type, and a force feedback type. In the state where the slave is not in contact, the control is performed by a normal bilateral control method. In the state where the slave is in contact with the object, the torque t1 applied to the master by the operation of the operator is obtained, and the torque applied to the slave is determined. In addition to being able to be used as an actuator for changing the angle between arms when used as the master of a master-slave device in which the slave is controlled so that t3 follows a torque t2 corresponding to the torque t1, The advantage is that the high holding power of the ultrasonic motor can be used in configuring the master device. That. Furthermore, when the ultrasonic motor is of a traveling wave type, by utilizing the feature that the holding torque becomes extremely small when a standing wave is generated in the ultrasonic motor, the state in which the slave is not in contact with an object is used. There is an advantage that the control method can be not only a bilateral control method but also a unilateral control method without changing hardware.
[0070]
Further, in the above embodiment, the master device has an urging member for urging the second arm and the third arm, and operates the master operated by the operator and the operation of the master by the operator. A master-slave device having a slave that operates in accordance with the condition, wherein in a state where the slave is in contact with an object, the master-slave device holds the master operated by the operator and expands and contracts by a torque applied to the master. A master-slave device in which a torque t1 applied to the master is determined by detecting an expansion / contraction amount of an elastic element to be applied, and the slave is controlled so that a torque t3 applied to the slave follows a torque t2 corresponding to the torque t1. And the biasing member is used as the elastic element. That is, the master-slave device according to the above-described embodiment is configured such that, when the slave is in contact with an object, the master is held by the holding force of the clutch connected to the master, and the torque is applied to the master by the operation of the operator. Although the torsion spring as an example of the urging member that expands and contracts is used as the elastic element and the amount of expansion and contraction of the torsion spring is detected to obtain the torque, the invention is not limited to this. For example, a strain gauge may be provided in place of the urging member, and the torque may be obtained by this.
[0071]
However, not only the angle but also the torque can be obtained using the angle detecting member, and the above-described embodiment is more preferable in that a special torque detecting member such as a strain gauge is not required.
[0072]
Further, in the above-described embodiment, the torsion spring has been described as an example of the urging member. However, if the element is an elastic element, for example, a coil spring, a torque spring, or a leaf spring or a notch of various shapes may be used. Metal or the like. Further, a case where the urging member is not provided and another member itself includes the elastic element may be used.
[0073]
Further, in the above embodiment, the angle control member for controlling the angle between the predetermined reference direction and the second arm is provided at the first joint, but is not limited to this. Absent.
[0074]
As described above, in FIG. 4, if one of three angles of ∠CAB, ∠ACD, ∠CDB, ∠ABD, ∠OAC, and ∠OAB is determined, ∠CAB, ∠ACD, Since ∠CDB, ∠ABD, ∠OAC, ∠OAB are all determined, for example, an angle control member for controlling an angle between a predetermined reference direction and the first arm is provided at the first joint. It may be that.
[0075]
In the above embodiment, the predetermined reference direction is the direction of the fifth arm. However, the present invention is not limited to this. Further, the master device may not have the fifth arm, and may be configured such that, for example, the base member and the first joint are directly connected.
[0076]
Further, in the above embodiment, the quadrilateral connecting the first joint, the second joint, the third joint, and the fourth joint is a parallelogram, but is not limited thereto. It may be a square other than the shape.
However, the above embodiment is more preferable in that the master device can have a simple configuration.
[0077]
Further, in the above embodiment, each arm is connected to the other arm via each end, but the present invention is not limited to this, and each arm is connected via a portion other than the end. It may be good.
[0078]
Further, in the above embodiment, the slave has a configuration similar to that of the master, but is not limited to this.
[0079]
Further, in the above embodiment, the number of motors included in the slave is two, but the present invention is not limited to this.
[0080]
Further, the slave may not be an actual thing but a virtual thing on a computer, that is, a virtual thing that can be seen through a display. The operator operates the master, and the slave on the computer operates in response to this. As a means for the operator to interact with the computer, not only video (vision) and sound (hearing) but also force and tactile sensation on the computer are used. The present invention can be applied when receiving from a slave or the like.
[0081]
<<<< Specific usage of master device >>>>
Next, a specific method of using the above-described master device 102 will be described with reference to FIG. FIG. 5 is a diagram for explaining a specific usage of the master device 102.
[0082]
First, a plurality of master devices 102 are prepared, and the plurality of master devices 102 are mounted on a hand. Master device 102 has finger insertion portion 125 at free end 124 described above, and a finger is inserted into finger insertion portion 125. By inserting each finger of the hand into each of the finger insertion sections 125 of the prepared master device 102, a plurality of master devices 102 are mounted on the hand side by side. The above-described base member 122 of each master device 102 is provided on the glove 127 and is fixed to the hand via the glove 127. In FIG. 5, two master devices 102 are prepared, and the index finger and the middle finger are inserted into the finger insertion portions 125 of the respective master devices 102. However, the present invention is not limited to this. The master devices 102 may be prepared, and all the fingers may be inserted into the finger insertion units 125 of each master device 102.
[0083]
The operator operates the master device 102 by bending the finger inserted into the finger insertion section 125 of the master device 102. By such an operation, the angle between the arms in each joint changes. On the other hand, the slave device 202 operates according to the operation of the master device 102 by the operator.
[0084]
As described above, in this example, since a plurality of master devices are used side by side, the above-described physical interference is more likely to occur. Therefore, in this example, the above-described effect, that is, the effect of realizing a master device or the like having an angle control member at an ideal position for avoiding a problem due to physical interference is more effectively exhibited. It becomes.
[0085]
Further, in this example, since a plurality of master devices are mounted on the hand, and each master device is operated by each finger of the hand, an angle control member is provided at a location separated from the base member of the master device. Then, the own weight of the angle control member is directly applied to the finger. In such a case, in addition to the above-described deterioration in stability, there is a disadvantage that the operation of bending the finger is difficult.
[0086]
Therefore, in this example, in addition to the effect described above, that is, in addition to the effect of realizing a master device or the like having an angle control member at an ideal position to avoid a problem due to deterioration of stability or physical interference, The effect of realizing a master device or the like having an angle control member at an ideal position for avoiding the difficulty of bending the finger is exhibited.
[0087]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the master apparatus and the master-slave apparatus which provided the angle control member in the ideal position which avoids the problem by deterioration of stability, physical interference, etc. can be implement | achieved.
[Brief description of the drawings]
FIG. 1 is a diagram schematically illustrating an example of a configuration of a master device 102.
FIG. 2 is an overall view of a master-slave device according to the present embodiment.
FIG. 3 is a flowchart showing the operation of the master-slave device.
FIG. 4 is a diagram schematically illustrating an example of a configuration of a master device 102.
FIG. 5 is a diagram for explaining a specific usage of the master device 102.
[Explanation of symbols]
32 Master
38 t1 / t2 converter
40 Hold command section
42 Switching command section
44 slave
50 Motor control unit
50a angle control unit
50b torque control unit
52 objects
76 Control device
78 t1 calculator
80 t3 calculator
102 Master device
104 First arm
106 Second arm
108 Third arm
110 4th arm
112 Fifth Arm
114 First Joint
116 2nd joint
118 Third Joint
120 4th joint
122 Base member
124 free end
125 finger insertion part
127 gloves
126 First potentiometer
128 Second potentiometer
130 First torsion spring
132 Second torsion spring
134 First clutch
136 Second clutch
202 Slave device
204 First arm
206 Second arm
208 Third arm
210 4th arm
212 Fifth Arm
214 First Joint
216 Second joint
218 Third Joint
220 4th joint
222 base member
224 free end
226 First potentiometer
228 Second potentiometer
230 first torsion spring
232 Second torsion spring
234 First motor
236 Second motor

Claims (12)

A first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, a fourth joint, and a base member,
The first joint is at a position closest to the base member among the four joints,
The first arm is connected to the first joint and the second joint,
The second arm is connected to the first joint and the third joint,
The third arm is connected to the third joint and the fourth joint,
The master device, wherein the fourth arm is connected to the second joint and the fourth joint, and has a free end on a side opposite to the fourth joint when viewed from the second joint.
A master device, wherein an angle control member for controlling an angle formed between the second arm and the third arm is provided at the third joint. The master device according to claim 1,
A master device, wherein a rectangle connecting the first joint, the second joint, the third joint, and the fourth joint is a parallelogram. In the master device according to claim 1 or 2,
A master device, wherein an angle control member for controlling an angle between a predetermined reference direction and the second arm is provided at the first joint. The master device according to claim 1, wherein
A master device, wherein a plurality of the master devices are used side by side. The master device according to claim 4,
A master device, wherein a plurality of the master devices are mounted on a hand, and each of the master devices is operated by each finger of the hand. The master device according to any one of claims 1 to 5,
The master device is
A master-slave device including a master operated by an operator and a slave that operates in accordance with the operation of the master by the operator, and in a state where the slave is in contact with an object, the master operates according to the operation of the operator. A master-slave device for determining a torque t1 applied to the master and controlling the slave such that a torque t3 applied to the slave follows a torque t2 corresponding to the torque t1;
A master device used as the master. The master device according to claim 6,
The master device is
A master-slave device including a master operated by an operator and a slave that operates in accordance with the operation of the master by the operator, and in a state where the slave is in contact with an object, the master operates according to the operation of the operator. When the torque t1 applied to the master is determined, the slave is controlled so that the torque t3 applied to the slave follows a torque t2 corresponding to the torque t1, and the torque t3 applied to the slave exceeds a predetermined value. A master-slave device that determines that the slave is in contact with an object,
A master device used as the master. In the master device according to claim 6 or 7,
The master device is
A master-slave device having a master operated by an operator and a slave that operates in accordance with the operation of the master by the operator, wherein the slave is operated by the operator when the slave is in contact with an object. A master that holds the master and obtains a torque t1 applied to the master by an operation of the operator, and controls the slave such that a torque t3 applied to the slave follows a torque t2 corresponding to the torque t1. Slave device,
Used as the master of
The master device, wherein the angle control member holds an angle formed by the second arm and the third arm for the holding of the master. The master device according to claim 8,
The master device has an urging member for urging the second arm and the third arm,
A master-slave device having a master operated by an operator and a slave that operates in accordance with the operation of the master by the operator, wherein the slave is operated by the operator when the slave is in contact with an object. A torque t1 applied to the master is determined by detecting the amount of expansion and contraction of an elastic element that expands and contracts by the torque applied to the master, and a torque t3 applied to the slave is determined according to the torque t1. A master-slave device in which the slave is controlled to follow the torque t2,
Used as the master of
The master device according to claim 1, wherein the urging member is used as the elastic element. In the master device according to claim 8 or 9,
The master device, wherein the angle control member is a clutch. In the master device according to claim 8 or 9,
The said angle control member is an ultrasonic motor, The master apparatus characterized by the above-mentioned. Operated by the operator,
A first arm, a second arm, a third arm, a fourth arm, a first joint, a second joint, a third joint, a fourth joint, and a base member,
The first joint is at a position closest to the base member among the four joints,
The first arm is connected to the first joint and the second joint,
The second arm is connected to the first joint and the third joint,
The third arm is connected to the third joint and the fourth joint,
A master device, wherein the fourth arm is connected to the second joint and the fourth joint, and has a free end on a side opposite to the fourth joint when viewed from the second joint,
A slave device that operates according to the operation of the master device by the operator,
In a state where the slave device is in contact with an object, a torque t1 applied to the master device by the operation of the operator is obtained, and a torque t3 applied to the slave device follows a torque t2 corresponding to the torque t1. In a master slave device in which the slave device is controlled,
A master-slave device, wherein an angle control member for controlling an angle formed by the second arm and the third arm is provided at the third joint.

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