JP2006212741A - Task skill generator - Google Patents

Abstract

【Task】
Model task skills for implementing human dexterity in robots, define control methods for generating task skills, extract control parameters necessary for task skills, extract task skill operation procedures, and target Realize task skill generation suitable for work.
An operator inputs a target work using an operation input / presentation device 12 and a force sensor 13 using a task skill generation device 1 using hybrid impedance and force control and a task skill generation device 1 using impedance control. Is used to remotely operate the robot 2 of the slave device 11, and the task skill operation procedure necessary for generating task skills from the remote operation result, initial conditions based on the task skill model, task skill operation (hybrid control of impedance and force) Parameters, impedance control parameters), and termination conditions.
[Selection] Figure 1

Description

  The present invention relates to a task skill generation device using impedance and force hybrid control or impedance control for generating task skills for realizing dexterous work.

  In order for a robot to perform complex tasks on behalf of a person, it is necessary to implement human dexterity in the robot. A person's dexterity implemented in a robot is called task skill. Task skill operation is implemented by position control, force control, and hybrid control of position and force, and the target work is realized by setting the operation procedure well. Therefore, it is important to determine parameters and operation procedures necessary for position control, force control, and position-force hybrid control.

  However, when the task skill operation is implemented by position control, an excessive force is generated because a position error always occurs between the work target or environment predicted in advance and the actual position. When task skill movement is implemented by force control, it is very difficult to move the robot in free space and follow the target trajectory. The position and force hybrid control where the task skill operation is implemented also has the same problem as the position control and force control described above. Moreover, in the hybrid control of the position and force where the task skill operation is implemented, the necessary parameters must be obtained by trial and error according to the target work. Furthermore, the operation procedure for realizing the target work can only be obtained by trial and error (see Patent Documents 1 to 3).

  In position control, force control, and position / force hybrid control that implements task skill operation, there are problems such as the need to destroy the object and the environment or to always contact the object and the environment because of the above-mentioned drawbacks. there were. In addition, when generating task skills, the method of finding the parameters required for task skill operation control by trial and error and obtaining the operation procedure by trial and error is not only very laborious, but also realizes the target work. There were problems such as unable to find parameters and operating procedures. Furthermore, since the task skill is not modeled, there is a problem that a method for generating the task skill based on the model cannot be established.

As an improvement measure, it is necessary to adopt a method other than the control method as the control method for implementing the task skill operation.
There is also a method in which a person directly performs a target work and extracts necessary parameters and operation procedures from the data. However, even with this method, the necessary parameters cannot be extracted directly from the person who is working, and even if the operation procedure that allows the person to realize the target work is adopted as the operation procedure of the robot as it is, the human and the robot are structured. Since the robot cannot realize the target work because the materials are completely different, it is necessary to correct the operation procedure by trial and error after all.
Japanese Patent Laid-Open No. 2001-51712 Japanese Patent Laid-Open No. 2003-127078 Japanese Patent Laid-Open No. 2004-322224

  The problems to be solved are the modeling of task skills that have not been established so far, the control method that implements task skill movements, and the extraction of control parameters that the creator has sought in trial and error It is a simplification of the method and the extraction method of task skill operation procedures.

The present invention employs the following means in order to solve the above problems.
Task skill generator using hybrid control of impedance and force
A robot, a force sensor, a hand, a camera, a control device for controlling the robot, a device for obtaining information on the force sensor, a control device for controlling the hand, a control device for controlling the camera,
An operation input / presentation device in which an operator inputs operator operation information that is a basis for generating an operation of a slave device having an operation and presents the operation information of the slave device to the operator;
A force sensor by which an operator inputs operator force information that is a basis for generating the operation of the slave device;
A force sensor information presentation device for presenting force sensor information of the slave device to an operator;
A camera video presentation device for presenting the camera video of the slave device to an operator;
A control device for controlling the motion input / presentation device;
An apparatus for acquiring information of the force sensor;
The force sensor information input by the operator, the operation information from the slave device, and the force sensor information are received and processed, and the operation command information to the operation input / presentation device and the operation command information to the slave device are generated. A master device having a remote operation system control device;
Have

  The robot of the slave device has an articulated structure, and can be used in place of a force sensor by using a current of a motor that drives the robot.

  The motion input / presentation device of the master device is an articulated robot, which can present motion information and force information to the operator, and can be used in place of a force sensor using the current of the motor driving the device. It is possible to do.

  The task skill is a module that not only can execute a basic operation of a robot but also can be reused from a higher language level. The task skill model is a series of states consisting of an initial condition, a task skill operation, and an end condition. It is characterized by realizing a transition.

  The task skill operation utilizes a hybrid control of impedance and force.

Furthermore, the present invention employs the following means in order to solve the above problems.
A task skill generation device using impedance control includes a robot, a force sensor, a hand, a camera, a control device that controls the robot, a device that acquires information on the force sensor, a control device that controls the hand, A control device for controlling the camera;
An operation input / presentation device in which an operator inputs operator operation information that is a basis for generating an operation of a slave device having an operation and presents the operation information of the slave device to the operator;
A force sensor by which an operator inputs operator force information that is a basis for generating the operation of the slave device;
A force sensor information presentation device for presenting force sensor information of the slave device to an operator;
A camera video presentation device for presenting the camera video of the slave device to an operator;
A control device for controlling the motion input / presentation device;
An apparatus for acquiring information of the force sensor;
The force sensor information input by the operator, the operation information from the slave device, and the force sensor information are received and processed, and the operation command information to the operation input / presentation device and the operation command information to the slave device are generated. A master device having a remote operation system control device;
Have

  The robot of the slave device of the task skill generation device using the impedance control has a multi-joint structure, and can be used instead of a force sensor by using a current of a motor that drives the robot.

  The motion input / presentation device of the master device of the task skill generation device using the impedance control is an articulated robot, which can present motion information and force information to the operator, and uses the current of the motor that drives this device. It can be used instead of a force sensor.

  The task skill of the task skill generation device using the impedance control is a module that can perform not only a basic operation of the robot but also reusable from a higher language level. The model of the task skill includes initial conditions, tasks It is characterized by realizing a series of state transitions consisting of skill actions and end conditions.

  The task skill operation of the task skill generation device using impedance control uses impedance control.

  According to the task skill generation device according to the present invention, when the task skill is generated, the operator uses the device to execute the target work, so that the initial condition based on the task skill model from the execution result, the task skill There is an advantage that it is possible to easily extract the operation and end conditions, the parameters necessary for the hybrid control of impedance and force or impedance control implemented in the task skill operation, and the task skill operation procedure.

  In order to solve the above-described problems, the present invention generates a task skill based on a task skill model having a series of state transitions including an initial condition, a task skill operation, and an end condition.

  The present invention implements a hybrid control of impedance and force in task skill operation to ensure trajectory followability in free space and generate excessive force even with respect to position errors with objects and the environment. The main feature is that impedance control and force control can be applied in accordance with the operator's intention for each axis of position and posture.

By implementing impedance control in the task skill operation, the present invention ensures trajectory followability in free space and prevents excessive force from being generated even with respect to position errors with the object or the environment. The main feature.
Furthermore, when implementing hybrid control of impedance and force for task skill operation, there is a problem of stabilization of control when switching from impedance control to force control or force control to impedance control on one axis. The main feature is that the control switching problem is eliminated when the control is implemented.

  The present invention is a part of a model of control parameters and task skills necessary for hybrid control of impedance and force and impedance control from data obtained by an operator operating a robot by remote operation and performing a target work. The main feature is that certain initial conditions and termination conditions are extracted from the results of remote control experiments. The main feature of the task skill operation procedure is that it is extracted from the operator's remote operation procedure.

  A best mode for carrying out a task skill generation apparatus using hybrid control of impedance and force for task skill operation according to the present invention will be described below with reference to the drawings based on the first embodiment.

  A best mode for carrying out a task skill generation apparatus using impedance control for task skill operations according to the present invention will be described below with reference to the drawings based on the second embodiment. The drawings and the reference numerals are common to the first embodiment and the second embodiment, and the first and second embodiments will be described with the same drawings and reference numerals.

  FIG. 1 is an overall configuration diagram of a task skill generating apparatus 1 that uses hybrid control of impedance and force for task skill operations according to the present invention. The slave device 11 includes a robot 2 (a robot arm in this embodiment), a force sensor 3, a hand 4, a camera 5, a robot control device 6, a hand control device 7, a force sensor information acquisition device 8, a camera control device 9, a command / A data transmission / reception device 10 is included.

  The robot 2 has a multi-joint structure and is operated by position control by the robot controller 6. Further, the current of the motor that drives the robot 2 can be used instead of the force sensor 3. It is a well-known technique that the hand tip position of the hand 4 can be calculated by a joint angle measuring device (eg, potentiometer) installed at the joint of the robot 2.

  The hand 4 is a multi-fingered hand, and the fingertip operates by position control by the hand control device 7.

  The command / data transmission / reception device 10 transmits the target hand position command value of the robot 2 to be transmitted to the robot control device 6 and the target finger position command value of the hand 4 to be transmitted to the hand control device 7 to the command / data transmission / reception device 19 of the master device 20. From the current hand position information of the robot 2 calculated by the robot control device 6, the information of the force sensor 3 acquired by the force sensor information acquisition device 8, and the current finger position information of the hand 4 calculated by the hand control device 7. And the video of the camera 5 acquired by the camera control device 9 is transmitted to the command / data transmitting / receiving device 19 of the master device 20.

  The master device 20 includes a motion input / presentation device 12, a force sensor 13, a motion input / presentation device control device 14, a force sensor information acquisition device 15, a remote operation system control device 16, a force sensor information presentation device 17, and a camera video presentation. It has a device 18 and a command / data transmission / reception device 19.

  The motion input / presentation device 12 has an articulated structure, and is operated by position control by the motion input / presentation device controller 14. Further, it can be used in place of the force sensor 13 by using the current of the motor that drives the motion input / presentation device 12. It is a well-known technique that the position of the gripping portion of the motion input / presentation device 12 gripped by the operator can be measured by a joint angle measuring device (eg, potentiometer) installed at the joint of the motion input / presentation device. It is.

  The force sensor information presentation device 17 is a device that presents information of the force sensor 3 of the slave device 11 and information of the force sensor 13 of the master device 20.

  The camera video presentation device 18 is a device that presents the video of the camera 5 of the slave device 11.

FIG. 2 is a block diagram of a parallel bilateral remote operation method implemented in the remote operation system control device 16. The remote operation system control device 16 inputs and presents the target hand position of the robot 2 of the slave device 11 and the operation of the master device 20 based on the information of the force sensor 3 of the slave device 11 and 13 information of the force sensor of the master device 20. The target gripper position of the device 12 is calculated. The calculation formula is as follows: information of the force sensor 3 of the slave device 11 is Fs, information of the force sensor 13 of the master device 20 is Fm, the target hand position of the robot 2 of the slave device 11 and the motion input / presentation device 12 of the master device 20. If the target gripping part position is Pbref and the gain is Kb,
Pbref = Kb (Fm + Fs)
It becomes.

  The command / data transmission / reception device 19 transmits the target hand position command value of the robot 2 to be transmitted to the robot control device 6 and the target finger position command value of the hand 4 to be transmitted to the hand control device 7 to the command / data transmission / reception device 10 of the slave device 11. , The current hand position information of the robot 2 calculated by the robot control device 6, the information of the force sensor 3 acquired by the force sensor information acquisition device 8, and the current finger position information of the hand 4 calculated by the hand control device 7. The camera control device 9 receives the video of the camera 5 from the command / data transmission / reception device 10 of the slave device 11.

  FIG. 3 is a schematic diagram of the operation of attaching the nut 21 to the bolt 22. The bolt 22 is fixed to the environment, and the nut 21 is held by the hand 4 of the slave device 11. Σn is a nut coordinate system fixed to the nut 21, and the point 0 is the origin. Σb is a bolt coordinate system fixed to the bolt 22, and the point B is the origin. The hand coordinate system of the robot 2 matches the nut coordinate system Σn of the nut 21. It is assumed that the task skill operation for moving the nut 21 is described in the task skill operation coordinate system Σs. Σs is determined on the basis of Σn. Since Σn also moves simultaneously with the movement of the nut 21, Σn at a certain time is set as Σs, and even when Σn continues to move, Fixed to. Further, even if Σs is once set by Σn and Σn moves with respect to Σs, Σs can be newly reset using Σn after the movement.

  An operator considers a remote operation procedure in which a nut assembly operation can be performed by remote operation, and performs the nut assembly operation according to the procedure. Therefore, since this remote operation procedure can be considered as a procedure in which the robot 2 has actually performed the nut assembly work, this remote operation procedure is the operation procedure of the nut assembly task skill. FIG. 4 shows an operation procedure of the nut assembly task skill. During remote operation, the hand position (control point) of the motion input / presentation device 12 corresponds to the point O of the nut 21 held by the hand 4. Therefore, the operator operates the point O of the nut 21 via the motion input / presentation device 12.

  In impedance / force hybrid control implemented in task skill motion, either impedance control or force control is set for each control axis (x, y, z axis, roll, pitch, yaw axis). There is a need. By having the operator consciously perform remote operation in advance only for the control axis for which force control is desired, only that axis is set as a force control axis, and the other axes are set as impedance control axes.

FIG. 5 is a result of an experiment in which the operator has assembled the nut 21 to the bolt 22 using the apparatus of the present invention.
5A is the force acting on the point O of the nut 21, FIG. 5B is the torque acting on the point O of the nut 21, FIG. 5C is the position of the point O of the nut 21, and FIG. ) Is the posture of the nut 21 at point O. Since the coordinate system (x, y, z axis, roll, pitch, yaw axis) used in FIG. 5 needs to be fixed at one point in space, Σn at the start of nut assembly work is used in FIG. The coordinate system was used, and point O was the origin. The force acting on the point O of the nut 21 gripped by the hand 4 of the slave device 11 is acquired by the force sensor 4 and the force sensor information acquisition device 8, and the position of the point O of the nut 21 is determined by the robot 2 and the robot control device. 6 can be obtained. When the force acting on the point O of the nut 21 is Fs, the position of the point O of the nut 21 is Ps, and the stiffness gain is Ki, the impedance center Pic of the nut 21 is
Pic = Ps + Ki Fs
It becomes.

FIG. 5E shows the position of the impedance center of the nut 21 calculated from this equation, and FIG. 5F shows the posture. Here, the stiffness gain Ki is 500.0 [N / m], 500.0 [N / m], 500.0 [N / m], 5.0 [Nm / rad] around the x, y, z axis, roll, pitch, and yaw axes, respectively. 5.0 [Nm / rad], 5.0 [Nm / rad].
Here, when no force or moment acts on the nut 21, the point O of the nut 21 becomes the impedance center of the nut.

Based on the remote operation procedure by the operator and the determination of the control axis in the hybrid control, the task skill operation procedure of the nut assembly work is determined, and this task skill procedure corresponds to FIG.
(1) Approach to the bolt 22 and contact operation (between AB and IJ in FIG. 5) (all-axis impedance control)
(2) Pressing operation to the bolt 22 (between BC and JK in FIG. 5) (z-axis force control, other axis impedance control)
(3) Axis alignment operation to bolt 22 (between CG and KO in Fig. 5) (z-axis force control, other axis impedance control)
(4) Disengagement when the alignment operation to the bolt 22 fails (between GH in FIG. 5), rotation operation (between HI in FIG. 5) (all-axis impedance control)
(5) Assembly operation to the bolt 22 (between OP in FIG. 5) (z-axis force control, other axis impedance control)
Can be described.

(1) In the approach to and contact with the bolt 22, between AB and IJ in FIG. 5, the impedance center is 0.04 [m] in the z-axis direction between about 10 [s] from FIG. 5 (e) (FIG. 5). (Between α1 and β1 in (e)). Accordingly, impedance control is performed for all axes (x, y, z, roll, pitch, yaw axes), the impedance center is moved by 0.004 [m / s] in the z-axis direction, and the bolt 22 is brought close to and in contact with the bolt 22. After the contact, a force of −6.0 [N] (α3 in FIG. 5A) is generated in the z-axis direction, and the contact operation is finished. Here, it can be confirmed from FIG. 5C that the position error from the initial position is absorbed. Accordingly, the approach to the bolt 22 and the contact operation can be described as follows using a task skill model.
Initial condition: The z-axis of Σn and the z-axis of Σb agree to some extent, and Σn is set to Σs at the start of operation. The distance between the nut 21 and the bolt 22 in the z-axis direction is within 0.1 [m].
・ Task skill movement: Moves the impedance center in the z-axis direction by 0.004 [m / s] with all-axis impedance control. The target position is set larger than the distance between the nut 21 and the bolt 22 and is set to 0.1 [m].
-End condition: End when -6.0 [N] occurs in the z-axis direction. Σn at this time is reset to Σs.

(2) In the pressing operation to the bolt 22, pressing is performed at −6.0 [N] in the z-axis direction for about 7 [s] between BC and JK in FIG. 5. The pressing operation to the bolt 22 can be described as follows using a task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
-Task skill action: Press with -6.0 [N] in the z-axis direction with z-axis force control or other axis impedance control.
-Termination condition: Terminates when pressed for 7.0 [s].

  When the nut 21 is assembled to the bolt 22, the assembling cannot be realized unless the z axis of Σn of the nut 21 is aligned with the z axis of Σb of the bolt 22. Therefore, (3) in the alignment operation to the bolt 22, the alignment operation procedure and the alignment evaluation criteria for setting the z axis of Σn of the nut 21 in line with the z axis of Σb of the bolt 22 are set. . The axis alignment operation is to change the posture of the compliance center while pressing the nut 21 against the bolt 22. When the alignment is successful, a large moment is generated in the nut 21. Therefore, it is necessary to perform alignment while paying attention to this moment.

  FIG. 6 shows a diagram in which the surface of the nut 21 is divided into eight on the xy plane with respect to Σs. The operator changes the posture in the order of AA ′ (around the pitch axis), BB ′, CC ′ (around the roll axis), and DD ′ shown in FIG. The procedure is described in detail below.

  Between the CDs in FIG. 5, the nut 21 is pressed at −6.0 [N] in the z-axis direction from about 0.0 [rad] in the AA ′ direction (around the pitch axis) shown in FIG. 6 for about 32 [s]. Rotate to -0.3 [rad] (α2 in Fig. 5 (f)), then rotate from -0.3 [rad] to 0.3 [rad] (β2 in Fig. 5 (f)), and further 0.3 [rad] Rotate from 0.0 to [rad]. Here, the rotation speed is set to 0.04 [rad / s] from the operation time and rotation angle. Further, the posture is changed in the BB ′ direction, CC ′ direction (around the roll axis), and DD ′ direction shown in FIG. 6 in the same manner as between DE, EF, FG, and CD in FIG.

  The evaluation criteria for axis alignment is defined as a state in which a moment of 0.3 [Nm] or more (α4, β4 in FIG. 5B) is 1.0 [s] or more, and Σn at this time is reset as Σs. Furthermore, if this state occurs even once between the posture change in the AA ′ direction and the posture change in the DD ′ direction in FIG. 6, the alignment operation is repeated until this state occurs four times thereafter. In FIG. 5 (b), the evaluation criteria for axis alignment have been satisfied once between CGs, so that axis alignment fails and shifts to the separation and rotation operations shown between GIs. Since KO met the evaluation criteria for four-time alignment, alignment was successful and the assembly operation shown between OPs was performed.

  Further, in FIG. 5E, the movement of the impedance center can be confirmed between CDs. When the impedance center is rotated from 0.0 [rad] to -0.3 [rad] in the AA 'direction (around the pitch axis) in Fig. 6, it is 0.004 [m / s] from 0.0 [m] to 0.004 in the x-axis direction. When moving to [m] and rotating from -0.3 [rad] to 0.3 [rad], it moves from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the x-axis direction, and then 0.3 When rotating from [rad] to 0.0 [rad], it moves in the x-axis direction at 0.004 [m / s] from -0.004 [m] to 0.004 [m]. Similarly, the translational operation centered on the impedance can be confirmed between DE, EF, and FG in FIG. Therefore, the axis alignment operation to the bolt 22 is divided as follows between the CD and KL, between DE and LM, between EF and MN, between FG and NO in FIG. Can be described.

(3-1) Between CD and KL in FIG. 5 / Initial condition: −6.0 [N] is generated in the z-axis direction.
-Task skill operation: z-axis force control, other axis impedance control.
The z-axis force is maintained at -6.0 [N].
The impedance center is moved from 0.0 [m] to 0.004 [m] at 0.004 [m / s] in the x-axis direction and at the same time 0.04 [rad / s] at 0.04 [rad / s] around the pitch axis (AA 'direction in Fig. 6). ] To -0.3 [rad].
Next, the impedance center is moved from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the x-axis direction and at the same time 0.04 [rad / s] around the pitch axis (AA 'direction in Fig. 6). Move from -0.3 [rad] to 0.3 [rad].
Finally, the impedance center is moved from -0.004 [m] to 0.004 [m] at 0.004 [m / s] in the x-axis direction and at the same time 0.04 [rad / s] around the pitch axis (AA 'direction in Fig. 6) To move from 0.3 [rad] to 0.0 [rad].
-Termination condition: Terminate when the task skill operation is completed and move to (3-2). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfying the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-2). To do.

(3-2) Between DE and LM in FIG. 5 and initial conditions: -6.0 [N] is generated in the z-axis direction.
-Task skill operation: z-axis force control, other axis impedance control.
The z-axis force is maintained at -6.0 [N].
Simultaneously move the impedance center from 0.0 [m] to 0.0028 [m] at 0.0028 [m / s] in the x-axis direction and from 0.0 [m] to 0.0028 [m] at 0.0028 [m / s] in the y-axis direction. From 0.0 [rad] to 0.21 [rad] around 0.08 [rad / s] around the roll axis in the BB 'direction of 6, and from 0.0 [rad] to -0.21 [rad] around 0.028 [rad / s] around the pitch axis Move.
Next, the impedance center is changed from 0.0028 [m] to -0.0028 [m] at 0.0028 [m / s] in the x-axis direction, and from 0.0028 [m] to -0.0028 [m] at 0.0028 [m / s] in the y-axis direction. At the same time as moving, it is 0 around the roll axis in the BB 'direction in Fig. 6. 028 [rad / s] from 0.21 [rad] to -0.21 [rad], and around the pitch axis 0.028 [rad / s] -0.21 [ Move from rad] to 0.21 [rad].
Finally, the impedance center is changed from -0.0028 [m] to 0.0028 [m] from 0.0028 [m / s] in the x-axis direction, and from -0.0028 [m] to 0.0028 [m] from 0.0028 [m / s] in the y-axis direction. At the same time as moving, it is 0.028 [rad / s] from 0.02 [rad] to 0.0 [rad] around the roll axis in the BB 'direction in FIG. 6, and from 0.02 [rad / s] around 0.21 [rad] around the pitch axis. Move to 0.0 [rad].
-Termination condition: Terminate when the task skill operation is completed, and go to (3-3). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfies the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-3). To do.

(3-3) Between EF and MN in FIG. 5 / Initial condition: −6.0 [N] is generated in the z-axis direction.
-Task skill operation: z-axis force control, other axis impedance control.
The z-axis force is maintained at -6.0 [N].
The impedance center is moved from 0.0 [m] to 0.004 [m] at 0.004 [m / s] in the y-axis direction, and at the same time 0.04 [rad / s] at 0.04 [rad / s] around the roll axis (CC 'direction in Fig. 6). ] To 0.3 [rad].
Next, the impedance center is moved from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the y-axis direction and at the same time 0.04 [rad / s] around the roll axis (CC 'direction in Fig. 6). To move from 0.3 [rad] to -0.3 [rad].
Finally, the impedance center is moved from -0.004 [m] to 0.004 [m] at 0.004 [m / s] in the y-axis direction and at the same time 0.04 [rad / s] around the roll axis (CC 'direction in Fig. 6) Move from -0.3 [rad] to 0.0 [rad].
End condition: When the task skill operation is completed, it is ended and the process proceeds to (3-4). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfies the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-4) To do.

(3-4) Between FG in FIG. 5 and between NO and initial condition: -6.0 [N] is generated in the z-axis direction.
-Task skill operation: z-axis force control, other axis impedance control.
The z-axis force is maintained at -6.0 [N].
Simultaneously move the impedance center from 0.0 [m] to -0.0028 [m] at 0.0028 [m / s] in the x-axis direction and from 0.0 [m] to 0.0028 [m] at 0.0028 [m / s] in the y-axis direction. From 0.0 [rad / s] to 0.01 [rad] to 0.21 [rad] around the roll axis in the DD ′ direction in FIG. 6 and from 0.0 [rad] to 0.21 [rad] around 0.028 [rad / s] around the pitch axis Move.
Next, the impedance center from -0.0028 [m] to 0.0028 [m] in the x-axis direction from 0.0028 [m / s], and from 0.0028 [m] to -0.0028 [m] in the y-axis direction from 0.0028 [m / s] At the same time as moving in the DD 'direction of Fig. 6, from 0.02 [rad / s] around 0.21 [rad] to -0.21 [rad] around the roll axis, and from 0.01 [rad / s] around 0.21 [rad] around the pitch axis Move to -0.21 [rad].
Finally, the impedance center is 0.0028 [m / s] in the x-axis direction from 0.0028 [m] to -0.0028 [m], and 0.0028 [m / s] in the y-axis direction from -0.0028 [m] to 0.0028 [m]. At the same time as moving in the DD 'direction in Fig. 6, 0.028 [rad / s] around the roll axis from -0.21 [rad] to 0.0 [rad], around 0.028 [rad / s] around the pitch axis -0.21 [rad] Move from 0.0 to [rad].
End condition: When the task skill operation is completed, it is ended and the process proceeds to (3-1). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfying the alignment evaluation criteria), and Σn at this point is reset to Σs and the process proceeds to (3-1). To do.
Here, the end condition of the axis alignment operation of the bolt is set to the time when the axis alignment operation is repeated 4 times until the evaluation criteria for axis alignment is satisfied 4 times.

(4) In the disengagement and rotation operations when the axis alignment operation to the bolt 22 fails, the impedance center is moved in the z-axis direction by -0.02 [m] between about 7 [s] between GH in FIG. Therefore, the moving speed is set to 0.003 [m / s]. In FIG. 5, the center of impedance is rotated about 14.14 [s] around the z axis by 3.14 / 2 [rad], so the rotation speed is 0.1 [rad / s]. Accordingly, the separation and rotation operations when the axis alignment operation to the bolt 22 fails can be described as follows using the task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
-Task skill operation: Move the impedance center in the z-axis direction to 0.003 [m / s] to -0.02 [m] with all-axis impedance control. After that, rotate the impedance center around the z-axis at 0.1 [rad / s] to 3.14 / 2 [rad].
-End condition: End when the task skill operation is completed.

(5) In the assembly operation to the bolt 22, since the impedance center is rotated about 3.14 [rad] around the z axis between the OPs in FIG. 5 between about 35 [s], the rotation speed is 0.1 [rad / s]. ] Therefore, the assembly operation to the bolt 22 can be described as follows using the task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
・ Work skill operation: z-axis force control and other axis impedance control, while maintaining the force in the z-axis direction at -6.0 [N], the impedance center is 0.1 [rad / s] around the z-axis at 3.14 [rad] ] Rotate.
-End condition: End when the task skill operation is completed.

  As described above, the best mode for carrying out the task skill generation apparatus using the hybrid control of impedance and force for the task skill operation according to the present invention has been described based on the embodiments. Using the nut assembly task skill already generated in Example 1, the assembly operation of the nut was performed. A robot that implements this nut assembly task skill can realize all nut assembly operations under various environments including nuts 21 of different sizes and position / posture errors, and the task skills generated by the present invention. It was confirmed that it can actually be used.

  FIG. 1 is an overall configuration diagram of a task skill generation apparatus 1 that uses impedance control for task skill operations according to the present invention. The slave device 11 includes a robot 2 (a robot arm in this embodiment), a force sensor 3, a hand 4, a camera 5, a robot control device 6, a hand control device 7, a force sensor information acquisition device 8, a camera control device 9, a command / A data transmission / reception device 10 is included.

  The robot 2 has a multi-joint structure and is operated by position control by the robot controller 6. Further, the current of the motor that drives the robot 2 can be used instead of the force sensor 3. It is a well-known technique that the hand tip position of the hand 4 can be calculated by a joint angle measuring device (eg, potentiometer) installed at the joint of the robot 2.

  The hand 4 is a multi-fingered hand, and the fingertip operates by position control by the hand control device 7.

  The command / data transmission / reception device 10 transmits the target hand position command value of the robot 2 to be transmitted to the robot control device 6 and the target finger position command value of the hand 4 to be transmitted to the hand control device 7 to the command / data transmission / reception device 19 of the master device 20. From the current hand position information of the robot 2 calculated by the robot control device 6, the information of the force sensor 3 acquired by the force sensor information acquisition device 8, and the current finger position information of the hand 4 calculated by the hand control device 7. And the video of the camera 5 acquired by the camera control device 9 is transmitted to the command / data transmitting / receiving device 19 of the master device 20.

  The master device 20 includes a motion input / presentation device 12, a force sensor 13, a motion input / presentation device control device 14, a force sensor information acquisition device 15, a remote operation system control device 16, a force sensor information presentation device 17, and a camera video presentation. It has a device 18 and a command / data transmitting / receiving device 19.

  The motion input / presentation device 12 has an articulated structure, and is operated by position control by the motion input / presentation device controller 14. Further, it can be used in place of the force sensor 13 by using the current of the motor that drives the motion input / presentation device 12. It is a well-known technique that the position of the gripping portion of the motion input / presentation device 12 gripped by the operator can be measured by a joint angle measuring device (eg, potentiometer) installed at the joint of the motion input / presentation device. It is.

  The force sensor information presentation device 17 is a device that presents information of the force sensor 3 of the slave device 11 and information of the force sensor 13 of the master device 20.

  The camera video presentation device 18 is a device that presents the video of the camera 5 of the slave device 11.

FIG. 2 is a block diagram of a parallel bilateral remote operation method implemented in the remote operation system control device 16. The remote operation system control device 16 inputs and presents the target hand position of the robot 2 of the slave device 11 and the operation of the master device 20 based on the information of the force sensor 3 of the slave device 11 and 13 information of the force sensor of the master device 20. The target gripper position of the device 12 is calculated. The calculation formula is as follows: information of the force sensor 3 of the slave device 11 is Fs, information of the force sensor 13 of the master device 20 is Fm, the target hand position of the robot 2 of the slave device 11 and the motion input / presentation device 12 of the master device 20. If the target gripping part position is Pbref and the gain is Kb,
Pbref = Kb (Fm + Fs)
It becomes.

  The command / data transmission / reception device 19 transmits the target hand position command value of the robot 2 to be transmitted to the robot control device 6 and the target finger position command value of the hand 4 to be transmitted to the hand control device 7 to the command / data transmission / reception device 10 of the slave device 11. , The current hand position information of the robot 2 calculated by the robot control device 6, the information of the force sensor 3 acquired by the force sensor information acquisition device 8, and the current finger position information of the hand 4 calculated by the hand control device 7. The camera control device 9 receives the video of the camera 5 from the command / data transmission / reception device 10 of the slave device 11.

  FIG. 3 is a schematic diagram of the operation of attaching the nut 21 to the bolt 22. The bolt 22 is fixed to the environment, and the nut 21 is held by the hand 4 of the slave device 11. Σn is a nut coordinate system fixed to the nut 21, and the point 0 is the origin. Σb is a bolt coordinate system fixed to the bolt 22, and the point B is the origin. The hand coordinate system of the robot 2 matches the nut coordinate system Σn of the nut 21. It is assumed that the task skill operation for moving the nut 21 is described in the task skill operation coordinate system Σs. Σs is determined on the basis of Σn. Since Σn also moves simultaneously with the movement of the nut 21, Σn at a certain time is set as Σs, and even when Σn continues to move, Fixed to. Further, even if Σs is once set by Σn and Σn moves with respect to Σs, Σs can be newly reset using Σn after the movement.

  An operator considers a remote operation procedure in which a nut assembly operation can be performed by remote operation, and performs the nut assembly operation according to the procedure. Therefore, since this remote operation procedure can be considered as a procedure in which the robot 2 has actually performed the nut assembly work, this remote operation procedure is the operation procedure of the nut assembly task skill. FIG. 4 shows an operation procedure of the nut assembly task skill. During remote operation, the hand position (control point) of the motion input / presentation device 12 corresponds to the point O of the nut 21 held by the hand 4. Therefore, the operator operates the point O of the nut 21 via the motion input / presentation device 12.

FIG. 5 is a result of an experiment in which the operator has assembled the nut 21 to the bolt 22 using the apparatus of the present invention.
5A is the force acting on the point O of the nut 21, FIG. 5B is the torque acting on the point O of the nut 21, FIG. 5C is the position of the point O of the nut 21, and FIG. ) Is the posture of the nut 21 at point O. Since the coordinate system (x, y, z axis, roll, pitch, yaw axis) used in FIG. 5 needs to be fixed at one point in space, Σn at the start of nut assembly work is used in FIG. The coordinate system was used, and point O was the origin. The force acting on the point O of the nut 21 gripped by the hand 4 of the slave device 11 is acquired by the force sensor 4 and the force sensor information acquisition device 8, and the position of the point O of the nut 21 is determined by the robot 2 and the robot control device. 6 can be obtained. When the force acting on the point O of the nut 21 is Fs, the position of the point O of the nut 21 is Ps, and the stiffness gain is Ki, the impedance center Pic of the nut 21 is
Pic = Ps + Ki Fs
It becomes.

FIG. 5E shows the position of the impedance center of the nut 21 calculated from this equation, and FIG. 5F shows the posture. Here, the stiffness gain Ki is 500.0 [N / m], 500.0 [N / m], 500.0 [N / m], 5.0 [Nm / rad] around the x, y, z axis, roll, pitch, and yaw axes, respectively. 5.0 [Nm / rad] and 5.0 [Nm / rad].
Here, when no force or moment acts on the nut 21, the point O of the nut 21 and the impedance center of the nut coincide.

Based on the remote operation procedure by the operator and the determination of the control axis in the hybrid control, the task skill operation procedure of the nut assembly work is determined, and this task skill procedure corresponds to FIG.
(1) Approach to the bolt 22 and contact operation (between AB and IJ in FIG. 5)
(2) Pushing operation to the bolt 22 (between BC and JK in FIG. 5)
(3) Axis alignment operation to bolt 22 (between CG and KO in Fig. 5)
(4) Disengagement (between GH in FIG. 5) and rotation operation (between HI in FIG. 5) when the axis alignment operation to the bolt 22 fails.
(5) Assembly operation to the bolt 22 (between OP in FIG. 5)
Can be described.

(1) In approaching and contacting the bolt 22, between AB and IJ in FIG. 5, the impedance center is 0.04 [m] in the z-axis direction between about 10 [s] from FIG. 5 (e) (FIG. 5). Between α1 and β1). Therefore, the impedance center is moved by 0.004 [m / s] in the z-axis direction so as to approach and contact the bolt 22. After the contact, a force of −6.0 [N] (α3 in FIG. 5A) is generated in the z-axis direction, and the contact operation is finished. Here, it can be confirmed from FIG. 5C that the position error from the initial position is absorbed. Accordingly, the approach to the bolt 22 and the contact operation can be described as follows using a task skill model.
Initial condition: The z-axis of Σn and the z-axis of Σb agree to some extent, and Σn is set to Σs at the start of operation. The distance between the nut 21 and the bolt 22 in the z-axis direction is within 0.1 [m].
-Task skill movement: Move the impedance center in the z-axis direction at 0.004 [m / s]. The target position is set larger than the distance between the nut 21 and the bolt 22 and is set to 0.1 [m].
End condition: End when -6.0 [N] occurs in the z-axis direction. Σn at this time is reset to Σs.

(2) In the pressing operation to the bolt 22, the impedance center is fixed for about 7 [s] between BC and JK in FIG. 5, and −6.0 [N] is generated in the z-axis direction. Therefore, the pressing operation to the bolt can be described as follows using a task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
・ Task skill action: Fix the impedance center and generate -6.0 [N].
-Termination condition: Terminates when pressed for 7.0 [s].

  When the nut 21 is assembled to the bolt 22, the assembling cannot be realized unless the z axis of Σn of the nut 21 is aligned with the z axis of Σb of the bolt 22. Therefore, (3) in the alignment operation to the bolt 22, the alignment operation procedure and the alignment evaluation criteria for setting the z axis of Σn of the nut 21 in line with the z axis of Σb of the bolt 22 are set. . The axis alignment operation is to change the posture of the compliance center while pressing the nut 21 against the bolt 22. When the alignment is successful, a large moment is generated in the nut 21. Therefore, it is necessary to perform alignment while paying attention to this moment.

  FIG. 6 shows a diagram in which the surface of the nut 21 is divided into eight on the xy plane with respect to Σs. The operator changes the posture in the order of AA ′ (around the pitch axis), BB ′, CC ′ (around the roll axis), and DD ′ shown in FIG. The procedure is described in detail below.

  Between the CDs in FIG. 5, the nut 21 is pressed at −6.0 [N] in the z-axis direction from about 0.0 [rad] in the AA ′ direction (around the pitch axis) shown in FIG. 6 for about 32 [s]. Rotate to -0.3 [rad] (α2 in Fig. 5 (f)), then rotate from -0.3 [rad] to 0.3 [rad] (β2 in Fig. 5 (f)), and further 0.3 [rad] Rotate from 0.0 to [rad]. Here, the rotation speed is set to 0.04 [rad / s] from the operation time and rotation angle. Further, the posture is changed in the BB ′ direction, CC ′ direction (around the roll axis), and DD ′ direction shown in FIG. 6 in the same manner as between DE, EF, FG, and CD in FIG.

  The evaluation criteria for axis alignment is defined as a state in which a moment of 0.3 [Nm] or more (α4, β4 in FIG. 5B) is 1.0 [s] or more, and Σn at this time is reset as Σs. Furthermore, if this state occurs even once between the posture change in the AA ′ direction and the posture change in the DD ′ direction in FIG. 6, the alignment operation is repeated until this state occurs four times thereafter. In FIG. 5 (b), the evaluation criteria for axis alignment have been satisfied once between CGs, so that axis alignment fails and shifts to the separation and rotation operations shown between GIs. Since KO met the evaluation criteria for four-time alignment, alignment was successful and the assembly operation shown between OPs was performed.

  Further, in FIG. 5E, the movement of the impedance center can be confirmed between CDs. When the posture of the impedance center rotates from 0.0 [rad] to -0.3 [rad] in the AA 'direction (around the pitch axis), it is 0.004 [m / s] in the x-axis direction and 0.0 [m] to 0.004 [m] When moving from -0.3 [rad] to 0.3 [rad], it moves from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the x-axis direction, and further 0.3 [rad] When rotating from 0 to 0.0 [rad], it moves in the x-axis direction at 0.004 [m / s] from -0.004 [m] to 0.004 [m]. Similarly, the translational operation centered on the impedance can be confirmed between DE, EF, and FG. Therefore, the axis alignment operation to the bolt 22 is divided as follows between the CD and KL, between DE and LM, between EF and MN, between FG and NO in FIG. Can be described.

(3-1) Between CDs and between KLs / Initial condition: -6.0 [N] is generated in the z-axis direction.
-Task skill movement: Move the impedance center from 0.0 [m] to 0.004 [m] at 0.004 [m / s] in the x-axis direction and at the same time 0.0 0.0 [rad / s] around the pitch axis (AA 'direction) Move from [rad] to -0.3 [rad].
Next, the impedance center is moved from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the x-axis direction, and at the same time, -0.3 at 0.04 [rad / s] around the pitch axis (AA 'direction) Move from [rad] to 0.3 [rad].
Finally, the impedance center is moved from -0.004 [m] to 0.004 [m] at 0.004 [m / s] in the x-axis direction, and at the same time, 0.3 [ Move from [rad] to 0.0 [rad].
-Termination condition: Terminate when the task skill operation is completed and move to (3-2). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfying the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-2). To do.

(3-2) Between DE and between LM / Initial condition: -6.0 [N] is generated in the z-axis direction.
Task skill movement: Impedance center from 0.0 [m] to 0.0028 [m] at 0.0028 [m / s] in the x-axis direction, and from 0.0 [m] to 0.0028 [m] at 0.0028 [m / s] in the y-axis direction At the same time as moving, it is 0.028 [rad / s] from 0.0 [rad] to 0.21 [rad] around the roll axis in the BB 'direction in FIG. 6, and 0.028 [rad / s] around 0.0 [rad] around the pitch axis- Move to 0.21 [rad].
Next, the impedance center is changed from 0.0028 [m] to -0.0028 [m] at 0.0028 [m / s] in the x-axis direction, and from 0.0028 [m] to -0.0028 [m] at 0.0028 [m / s] in the y-axis direction. At the same time as moving, it is 0 around the roll axis in the BB 'direction in Fig. 6. 028 [rad / s] from 0.21 [rad] to -0.21 [rad], and around the pitch axis 0.028 [rad / s] -0.21 [ Move from rad] to 0.21 [rad].
Finally, the impedance center is changed from -0.0028 [m] to 0.0028 [m] from 0.0028 [m / s] in the x-axis direction, and from -0.0028 [m] to 0.0028 [m] from 0.0028 [m / s] in the y-axis direction. At the same time as moving, it is 0.028 [rad / s] from 0.02 [rad] to 0.0 [rad] around the roll axis in the BB 'direction in FIG. 6, and from 0.02 [rad / s] around 0.21 [rad] around the pitch axis. Move to 0.0 [rad].
-Termination condition: Terminate when the task skill operation is completed, and go to (3-3). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfies the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-3). To do.

(3-3) Between EF and between MN / initial conditions: -6.0 [N] is generated in the z-axis direction.
-Task skill movement: Move the impedance center from 0.0 [m] to 0.004 [m] at 0.004 [m / s] in the y-axis direction, and at the same time 0.0 0.0 [rad / s] around the roll axis (CC 'direction) Move from [rad] to 0.3 [rad].
Next, the impedance center is moved from 0.004 [m] to -0.004 [m] at 0.004 [m / s] in the y-axis direction, and at the same time, 0.3 [0.0 [rad / s] around 0.3 [rad / s] around the roll axis. Move from [rad] to -0.3 [rad].
Finally, the impedance center is moved from -0.004 [m] to 0.004 [m] at 0.004 [m / s] in the y-axis direction and at the same time -0.3 at 0.04 [rad / s] around the roll axis (CC 'direction) Move from [rad] to 0.0 [rad].
End condition: When the task skill operation is completed, it is ended and the process proceeds to (3-4). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfies the alignment criteria), and Σn at this point is reset to Σs and the process proceeds to (3-4) To do.

(3-4) Between FG and between NO / Initial condition: -6.0 [N] is generated in the z-axis direction.
-Task skill movement: Impedance center in the x-axis direction is 0.0028 [m / s] from 0.0 [m] to -0.0028 [m], and in the y-axis direction is 0.0028 [m / s] from 0.0 [m] to 0.0028 [m] At the same time as 0.0 '[rad / s] from 0.0 [rad] to 0.21 [rad] around the roll axis, and 0.028 [rad / s] around 0.0 [rad] around the pitch axis Move to 0.21 [rad].
Next, the impedance center from -0.0028 [m] to 0.0028 [m] in the x-axis direction from 0.0028 [m / s], and from 0.0028 [m] to -0.0028 [m] in the y-axis direction from 0.0028 [m / s] At the same time as moving in the DD 'direction of Fig. 6, from 0.02 [rad / s] around 0.21 [rad] to -0.21 [rad] around the roll axis, and from 0.01 [rad / s] around 0.21 [rad] around the pitch axis Move to -0.21 [rad].
Finally, the impedance center is 0.0028 [m / s] in the x-axis direction from 0.0028 [m] to -0.0028 [m], and 0.0028 [m / s] in the y-axis direction from -0.0028 [m] to 0.0028 [m]. At the same time as moving in the DD 'direction in Fig. 6, 0.028 [rad / s] around the roll axis from -0.21 [rad] to 0.0 [rad], around 0.028 [rad / s] around the pitch axis -0.21 [rad] Move from 0.0 to [rad].
End condition: When the task skill operation is completed, it is ended and the process proceeds to (3-1). However, it ends even when a moment of 0.3 [Nm] or more occurs 1.0 [s] or more (satisfying the alignment evaluation criteria), and Σn at this point is reset to Σs and the process proceeds to (3-1). To do.
Here, the end condition of the axis alignment operation of the bolt is set to the time when the axis alignment operation is repeated 4 times until the evaluation criteria for axis alignment is satisfied 4 times.

(4) In the disengagement and rotation operations when the axis alignment operation to the bolt 22 fails, the impedance center is moved in the z-axis direction by -0.02 [m] between about 7 [s] between GH in FIG. Therefore, the moving speed is set to 0.003 [m / s]. In FIG. 5, the center of impedance is rotated about 14.14 [s] around the z axis by 3.14 / 2 [rad], so the rotation speed is 0.1 [rad / s]. Accordingly, the separation and rotation operations when the axis alignment operation to the bolt 22 fails can be described as follows using the task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
・ Task skill operation: Move the impedance center in the z-axis direction to 0.003 [m / s] to -0.02 [m]. After that, rotate the impedance center around the z-axis at 0.1 [rad / s] to 3.14 / 2 [rad].
-End condition: End when the task skill operation is completed.

(5) In the assembling operation to the bolt 22, the center of impedance is rotated about 3.14 [rad] around the z axis between about 35 [s] between OP in the figure, so the rotation speed is 0.1 [rad / s]. And Therefore, the assembly operation to the bolt 22 can be described as follows using the task skill model.
-Initial condition: -6.0 [N] is generated in the z-axis direction.
・ Work skill action: Rotate the impedance center by 3.14 [rad] at 0.1 [rad / s] around the z axis.
-End condition: End when the task skill operation is completed.

  As described above, the best mode for carrying out the task skill generation apparatus using impedance control for the task skill operation according to the present invention has been described based on the embodiments. Using the nut assembly task skill already generated in Example 2, the nut assembly operation was performed. A robot that implements this nut assembly task skill can realize all nut assembly operations under various environments including nuts 21 of different sizes and position / posture errors, and the task skills generated by the present invention. It was confirmed that it can actually be used.

  The task skill that has been created by trial and error depending on the intuition of the creator so far can be generated along the series of flows in the present invention as described above. It is possible to easily generate more task skills without being limited to the assembly task skills. Therefore, since many of the dexterous movements that people perform in their daily lives can be generated as robot task skills, they can be applied not only to various industrial robots but also into human life in the future. It can also be applied to incoming robots.

1 is an overall configuration diagram of a task skill generation device according to the present invention (Examples 1 and 2). FIG. It is a block diagram of the parallel type bilateral remote operation system mounted in a remote operation system control apparatus (Example 1, 2). It is a schematic diagram of a bolt and a nut at the time of applying the present invention to a nut assembly operation (examples 1 and 2). It is the operation | movement procedure of the task skill of the nut extracted by this invention (Example 1, 2). It is a result of having implemented the operation | work which the operator assembled | attached a nut to a volt | bolt using this invention (Example 1, 2). It is the figure which divided the surface of the nut into 8 in the xy plane of the task skill coordinate system where the robot operates (Examples 1 and 2).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Task skill production | generation apparatus 2 Robot 3 Force sensor 4 Hand 5 Camera 6 Robot control apparatus 7 Hand control apparatus 8 Force sensor information acquisition apparatus 9 Camera control apparatus 10 Command / data transmission / reception apparatus 11 Slave apparatus 12 Motion input / presentation apparatus 13 Force sensor 14 Operation Input / Presentation Device Control Device 15 Force Sensor Information Acquisition Device 16 Remote Operation System Control Device 17 Force Sensor Information Presentation Device 18 Camera Image Presentation Device 19 Command / Data Transmission / Reception Device 20 Master Device 21 Nut 22 Bolt

Claims (10)

With robots,
A force sensor;
Hands and
A camera,
A control device for controlling the robot;
A device for acquiring force sensor information;
A control device for controlling the hand;
A control device for controlling the camera;
An operation input / presentation device in which an operator inputs operator operation information that is a basis for generating an operation of a slave device having an operation and presents the operation information of the slave device to the operator;
A force sensor by which an operator inputs operator force information that is a basis for generating the operation of the slave device;
A force sensor information presentation device for presenting force sensor information of the slave device to an operator;
A camera video presentation device for presenting the camera video of the slave device to an operator;
A control device for controlling the motion input / presentation device;
An apparatus for acquiring information of the force sensor;
The force sensor information input by the operator, the operation information from the slave device, and the force sensor information are received and processed, and the operation command information to the operation input / presentation device and the operation command information to the slave device are generated. A master device having a remote operation system control device;
Task skill generator using hybrid impedance and force control.   2. The impedance and force hybrid control according to claim 1, wherein the slave device robot has a multi-joint structure and can be used in place of a force sensor by utilizing a current of a motor driving the robot. Task skill generator.   The motion input / presentation device of the master device is an articulated robot, which can present motion information and force information to the operator, and can be used in place of a force sensor using the current of the motor driving the device. The task skill generation apparatus using hybrid impedance and force control according to claim 1, wherein the task skill generation apparatus is capable of performing the task skill generation.   The task skill is a module that not only can execute a basic operation of a robot but also can be reused from a higher language level. The task skill model is a series of states consisting of an initial condition, a task skill operation, and an end condition. The task skill generating apparatus using hybrid impedance and force control according to claim 1, wherein the task skill generating apparatus implements transition.   5. The task skill generation apparatus using hybrid impedance and force control according to claim 4, wherein the task skill operation utilizes impedance and force hybrid control. With robots,
A force sensor;
Hands and
A camera,
A control device for controlling the robot;
A device for acquiring force sensor information;
A control device for controlling the hand;
A control device for controlling the camera;
An operation input / presentation device in which an operator inputs operator operation information that is a basis for generating an operation of a slave device having an operation and presents the operation information of the slave device to the operator;
A force sensor by which an operator inputs operator force information that is a basis for generating the operation of the slave device;
A force sensor information presentation device for presenting force sensor information of the slave device to an operator;
A camera video presentation device for presenting the camera video of the slave device to an operator;
A control device for controlling the motion input / presentation device;
An apparatus for acquiring information of the force sensor;
The force sensor information input by the operator, the operation information from the slave device, and the force sensor information are received and processed, and the operation command information to the operation input / presentation device and the operation command information to the slave device are generated. A master device having a remote operation system control device;
Task skill generation device using impedance control with   The robot of the slave device according to claim 6 has an articulated structure, and can be used in place of a force sensor by utilizing a current of a motor that drives the robot. 7. Use of impedance control according to claim 6 Task skill generator.   The motion input / presentation device of the master device according to claim 6 is an articulated robot, which can present motion information and force information to the operator, and uses the current of the motor driving the device instead of the force sensor. The task skill generating apparatus using impedance control according to claim 6, wherein the task skill generating apparatus can be used.   The task skill according to claim 6 is a module that not only allows a robot to perform a certain basic motion but also can be reused from a higher language level. The model of the task skill is based on an initial condition, a task skill motion, and an end condition. 7. The task skill generation device using impedance control according to claim 6, wherein a series of state transitions is realized.   The task skill generation device using impedance control according to claim 9, wherein the task skill operation according to claim 6 uses impedance control.