JPH01133117A - Controller for master/slave manipulator - Google Patents

Abstract

PURPOSE:To improve response speed on a slave side by adding a torque deviation to an operation reference signal for a driving mechanism in the slave side in addition to a positional deviation signal between the master side and the slave side. CONSTITUTION:A control device 10 generates a master side operation signal 10A and a slave side operation signal 10B. A deviation between a master side detecting torque signal 10C and a force feedback variable 10E obtained by considering a force feedback ratio K at a slave side detecting torque signal 10D is used as the signal. A signal obtained by adding the signal 10A to the deviation between a master side position 10F and a slave side position 10G is used as a signal 10B. A delay of phase between both the signals 10B, 10A can be removed by adding the signal 10A to the signal 10B. Since a device using the master side operation signal for the slave operation signal is addition to the positional deviation between the master and the lave is used for the master/slave manipulator control device based upon a force feedback type bilateral servo system, a master/slave manipulator device excellent in operability can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a control device for a master-slave manipulator.

(Prior Art) FIG. 3 shows a block diagram of a master-slave control system using a force feedback bilateral servo. In this system, the master side drive mechanism is driven based on the torque deviation between the master side and the slave side, and the slave side drive mechanism is driven based on the position deviation between the master side and the slave side. At this time, positioning in the slave is performed with a phase delay of 180 degrees or more with respect to positioning in the master.

(Problem to be solved by the invention) Since the response speed of the system is slow due to the above-mentioned phase delay in the slave, it is difficult to operate the degrees of freedom that require torque control on the slave side, such as the gripping degree of freedom. There were problems such as a decrease in force and a limit on the amount of force feedback. This is one of the factors that requires a high degree of skill in operating the master-slave manipulator and causes a decrease in work efficiency.

An object of the present invention is to use a master-slave manipulator control device that uses a torque deviation signal between the master side and the slave side as a drive signal on the slave side. An object of the present invention is to obtain a master-slave manipulator device which has a small amount of noise and has good operability.

(Structure of the Invention) (Means for Solving the Problems) In a force feedback bilateral servo type master-slave manipulator control device, the operation reference signal of the drive mechanism on the slave side is based on the conventional master-side and slave-side positions. The response speed of the slave side is improved by adding not only the deviation signal but also the torque deviation between the mass side and the slave side as an advancing element of the positional deviation.

(Function) By using the torque deviation signal between the master side and the slave side as the slave side drive signal, the response speed of the slave can be increased to the same level as the response speed of the master. By improving the response of the system, (1) operability by master/slave is improved;

(ii) Accuracy is improved because the loop gain can be increased.

(iiD) Since a sufficient amount of force feedback can be set, delicate work is possible.

Effects such as this can be obtained.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a functional block diagram of a master-slave manipulator control device describing one degree of freedom. Control device 1
0, a master side operation signal @10A and a slave side operation signal 10B are generated. Master side operation signal 10A
is the master side detection torque 10C and the slave side detection torque 1
00, the deviation from the force feedback ff110E in consideration of the force feedback rate K is used. The slave side operation signal 10B uses the master side operation signal 10A in addition to the deviation between the master side position 10F and the slave side position 10G.

During master-slave operation, the master side is driven using a master-side operation signal 10A similar to the conventional one. On the other hand, since the slave side operation signal @10B was conventionally driven according to the deviation between the master side position 10F and the slave side position 10G, it had a phase delay of 180 degrees or more with respect to the master side operation signal 10A. Slave side operation signal 1 explained in the present invention
By adding the master side operation signal 10A to 0B, the phase delay between the two can be eliminated. In other words, when the transfer functions of both master-slave systems are the same, if master-slave operation is started from the initial state where there is no deviation between the master side position 10F and the slave side position 10G, the master-slave operation is started while the positional deviation between them remains zero. This allows slave operations to be performed. Generally, the transfer functions of the master-slave system are different, so a positional deviation occurs according to this difference, but in this case, the deviation can be reduced to a ratio of conventional methods.
This does not impair the improvement of master-slave operability.

During master-slave operation, the response speed on the slave side can be increased to the same level as that on the master side. Improved response on the slave side improves operability by the master slave. Since it becomes possible to increase the feedback gain for positional deviation, the positioning accuracy in the slave improves. Since the force feedback rate can be set sufficiently large, it can also be used for delicate work.

(Effect of the invention) In a master-slave manipulator control device based on the force feedback bilateral servo system, by using a device that uses the master-side operation signal in addition to the position deviation between the master-slave and the slave-side operation signal, the slave-side It is possible to obtain a master-slave manipulator device with improved response speed and excellent workability and operability.

[Brief explanation of the drawing]

Figure 1 is a functional block diagram of a master-slave control device describing one degree of freedom when the present invention is used, Figure 2 is a block diagram of a control system when the present invention is used, and Figure 3 is a block diagram of the control system when the present invention is used.
The figure is a block diagram of a conventional control system. 10...Control device 10A...Master side operation signal 10B...Slave side operation signal 10C...Master side detection torque 100...Slave side detection torque 10E...Force feedback amount 10F...Master Side position 10G...Slave side position 11A...Master side drive device 1113...Master side position detector 11C...Master side torque detector 12A...Slave side drive device 12B...Slave side position Detector 12C...Slave side torque detector 20A...Master side inertia element 20B...Slave side inertia element agent Patent attorney Nori Chika Ken Yudo Daishimaru Ken Figure 1 Figure 2f! 1 Figure 3

Claims (1)

[Claims] A master-slave manipulator control device using a force feedback bilateral servo system, characterized in that a torque deviation signal between the master side and the slave side is used as a drive signal on the slave side.