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WO2011115287A1 - Système maître/esclave et procédé de commande dudit système - Google Patents

Système maître/esclave et procédé de commande dudit système Download PDF

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Publication number
WO2011115287A1
WO2011115287A1 PCT/JP2011/056692 JP2011056692W WO2011115287A1 WO 2011115287 A1 WO2011115287 A1 WO 2011115287A1 JP 2011056692 W JP2011056692 W JP 2011056692W WO 2011115287 A1 WO2011115287 A1 WO 2011115287A1
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Prior art keywords
master
slave
robot
force
displacement
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English (en)
Japanese (ja)
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克弥 金岡
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Ritsumeikan Trust
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Ritsumeikan Trust
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

Definitions

  • the present invention relates to a master / slave system and its control method.
  • FIG. 7 shows an example mechanical master-slave system 20.
  • the operator U, the master robot M, and the slave robot S interconnected with the master robot M are mechanically coupled and interlocked.
  • MC represents a mechanical connection between the master robot M and the slave robot S
  • E represents an environment where the working end of the slave robot S is placed
  • G represents a grip serving as the operation end of the master robot M.
  • the mechanism design is free from geometric constraints between the operator U, the master robot M, and the slave robot S.
  • the master robot M and the slave robot S are electrically interconnected, and the operator U
  • the main type is an electrical type in which the input interface on the side and the output interface on the robot side are mechanically separated.
  • the electric type is flexible by software or electrical means and can be designed flexibly. For example, safety is ensured so that the operator cannot enter the movable range of the high-power actuator. Easy system can be constructed.
  • FIG. 6 is a conceptual diagram of the upper limb power amplification master / slave system.
  • the upper limb power amplification master / slave system 1 ′ includes a master robot M and a slave robot S.
  • Each of the robot arms M and S has a grip G as a manipulation end and a work end d on one end side, and the other end side is provided at a different position on the trunk B.
  • Each of the robot arms M and S has two links, one end connected to the grip G or the work end d, the other end connected to the trunk B, and a connecting portion between the links.
  • these joints or grips G are provided with displacement sensors Pm 1 to 3 and Ps 1 to 3 , actuators As 1 to 3 , as necessary, depending on the control method applied.
  • Am 1 to 3 and a work force sensor Fs or an operation force sensor Fm are provided. The control method to be applied will be explained in order.
  • Non-Patent Document 7 points out that there is no 6-axis force sensor that can withstand the output of the backhoe.
  • the master-slave system as a power amplification robot as shown in FIG. 6, a hardware configuration in which a multi-axis force sensor is provided on the slave robot S side is not desirable.
  • the master robot M has a human movable range scale, but the slave robot S is a relatively large scale suitable for high output.
  • the target value from the master M side is merely sent to the trajectory control means PCs that performs the trajectory control of the slave S without placing a control system on the M side.
  • PCs that performs the trajectory control of the slave S without placing a control system on the M side.
  • Pm is a master displacement sensor
  • Ps is a slave displacement sensor
  • As is a slave actuator
  • G is a grip held by an operator
  • d is a working end. Therefore, when the master-slave system as a power amplification robot as shown in FIG. 6 is an electric master-slave system, bilateral control in which the work status on the slave S side is transmitted to the operator U as a force sense is inevitably applied. Will be.
  • Equation (1) relates to the master robot side and Equation (2) relates to the slave robot side.
  • the master operating force that the operator applies to the end of the master robot is f m (t)
  • the slave working force that the slave end applies to the environment is f s (t).
  • q m (t), q s (t) are master displacement and slave displacement
  • ⁇ m (t), ⁇ s (t) are master driving force or slave driving force for driving the master robot M or slave robot S
  • f m (t), f s (t)... are n-dimensional vectors (hereinafter the same).
  • M m (q m ) and M s (q s ) are inertia matrices
  • J m (q m ) and J s (q s ) are Jacobian matrices, and these Jacobian matrices are regular.
  • the trajectory control means PCm and PCs are arranged on both the master M side and the slave S side, and the position and speed of the robot on the other side are determined.
  • a closed-loop system is configured to achieve the target value. This is called because the same orbit control system is arranged symmetrically on the master side and slave side.
  • the symmetric type does not require a force sensor required for the following force reverse feed type and force feedback type bilateral control 32 and 33, and is a control method with good properties in terms of stability.
  • Am is a master actuator.
  • the control law for example, if P control in the work coordinate system is used, it is as follows.
  • Equation (3) relates to the master robot side and Equation (4) relates to the slave robot side.
  • ⁇ m ⁇ m (x s , x m ) means that the master driving force ⁇ m is a function of the slave displacement x s and the master displacement x m
  • ⁇ s ⁇ s (x m , x s ) means that the slave driving force ⁇ s is a function of the master displacement x m and the slave displacement x s .
  • the force reverse feed type bilateral master-slave system 32 shown in FIG. 10 is configured so that the slave robot S is trajectory-controlled using the position and speed of the master robot M as a target value.
  • slave working force f s which corresponds to the contact force between the detected environment robot S side is conveyed backward to the master robot M side is a method of driving a master robot M.
  • the slave robot S terminal to the master robot M side with working force sensor Fs for measuring the slave working force f s is provided provided with a driving force control means FCm, the slave working force f s to the master robot M side It is configured to be “reflected” to the master driving force ⁇ m at this point.
  • the slave robot S is linked to the master robot M. This suggests that the slave robot S moves according to the dynamic characteristics, that is, the dynamics of the master robot M.
  • the control law of the master robot M is as follows. Note that the control law of the slave robot S is the same as that in Expression (4).
  • the master operating force f m is also affected by the dynamics of the master robot M at the same magnification, and the slave working force f s of the slave robot S is S f ⁇ 1. Reduced to double.
  • C Force-feedback bilateral control
  • the force-feedback bilateral master-slave system 33 shown in FIG. 11 controls the trajectory of the slave robot S with the position and speed of the master robot M as target values.
  • the master robot M is force-controlled using a slave work force f s corresponding to the contact force with the environment detected on the side as a target value.
  • the difference from the force reverse feed type 32 is that an operating force sensor Fm is also provided on the master robot M side, and there is a closed loop that feeds back an error from the force target.
  • the master It is understood that the mechanism transparency of the entire slave system is improved.
  • the control law of the master robot M is as follows.
  • K f is an n-by-n diagonal matrix representing a force control gain.
  • the control law of the slave robot S is the same as that in Expression (4).
  • ⁇ m ⁇ m (f s , f m) that is a master driving force tau m indicates that a function of the slave work force f s and the master operating force f m.
  • the operator U has to become less aware that the operation of the slave robot S is performed in consideration of the dynamics of the slave robot S, and suddenly the operator U has a relatively large output and a large slave robot.
  • Even S may give the illusion that it works with the dynamics of the relatively small output master robot M in his or her hand, and the tendency Point such as seen strongly was a problem. That is, in a master-slave system in which a relatively small output master robot M and a relatively large output large slave robot S are electrically interconnected, the structure is the same or different. Naturally, the dynamics of the master robot M and the slave robot S are significantly different. For example, the inertia, friction, movable range, and other dynamic characteristics of the slave robot S are much larger than those of the master robot M.
  • the bilateral master-slave systems 32 and 33 that return the contact force or the touch of the object to the operator. Furthermore, even if a tough force sensor that can withstand the harsh use of a large slave robot with such a relatively large output is obtained, the bilateral master slave called the force reverse feed type or the force feedback type Since the systems 32 and 33 have the following problems, it is difficult to apply to a master-slave system in which a relatively small output master robot is operated to operate a large slave robot with a relatively large output. There was also a problem. That is, in the force reverse feed type or force feedback type bilateral master-slave systems 32 and 33 shown in FIGS. 10 and 11, the slave robot S is provided with the work force sensor Fs.
  • the output of the slave robot's working force sensor Fs fluctuates, and there is a possibility that a closed loop may be formed such that the master driving force ⁇ m is generated, the master displacement x m changes, and so on.
  • a closed loop Once such a closed loop is constructed, the unintended motion or vibration of the slave robot S increases unless the separated state between the operator U and the master robot M is eliminated and an appropriate operation is applied.
  • the slave robot S may run away and cause danger to the surroundings. Also in this case, there is a high possibility that the stability of the control system cannot be maintained.
  • Katsuoka Kanaoka “A Study on the Effect of Man-Machine Synergy in Atypical Heavy Work”, Proceedings of the 11th Construction Robot Symposium, pp. 119-124, 2008.
  • Katsuoka Kanaoka “Introduction to Power Amplification Robot System Design: To Realize Synergy between Humans and Machines Based on Mechanical Interaction”, Journal of the Robotics Society of Japan, 26, 3, pp. 255-258, 2008.
  • Yokoko Yasuyoshi “Theory of Master / Slave Control”, Journal of the Robotics Society of Japan, 11, 6, pp. 794-802, 1993.
  • the present invention provides a master-slave system that controls a slave robot with a relatively large output that is electrically connected to the operator by operating the master robot with a relatively small output. It is an object of the present invention to provide a master-slave system that allows intuitive control as if it is directly held, and that does not require a force sensor on the slave robot side, and a control method therefor.
  • an admittance-type force sense presentation device that generates a master drive force by receiving a displacement or speed input and presents a force sense to the operator, and the master robot is operated with an operation force applied to the master robot by the operator. It consists of an operating force sensor to detect, a master displacement sensor to detect the displacement of the master robot, and a master actuator that drives the master robot based on the master displacement and the slave displacement.
  • the slave robot detects the displacement of the slave robot.
  • the master-slave system of the present invention that can solve the above-described problems includes (1) a master robot that is an admittance type force sense manipulation device operated by an operator, and a slave robot that is at least electrically connected to the master robot.
  • a bilaterally controlled master-slave system comprising: at least one master displacement sensor for detecting master displacement in the master robot; at least one slave displacement sensor for detecting slave displacement in the slave robot; and the master At least one master actuator for generating a master driving force for driving the robot; at least one slave actuator for generating a slave driving force for driving the slave robot; and a mass applied by the operator to the master robot.
  • At least one operating force sensor for detecting an operating force, wherein the slave actuator generates the slave driving force based on the master operating force, while the master actuator is based on the master displacement and the slave displacement. The master driving force is generated.
  • control method of the master-slave system of the present invention comprises (2) a master robot that is an admittance type force sense presentation device operated by an operator, and a slave robot that is at least electrically connected to the master robot.
  • a bilaterally controlled master-slave system control method comprising: detecting at least one operation force sensor a master operation force applied by the operator to the master robot; and at least one slave actuator to perform the master operation. Generating a slave driving force for the slave robot based on the force; detecting a master displacement of the master robot by at least one master displacement sensor; and further detecting a slave displacement of the slave robot by at least one slave displacement sensor.
  • a step of generating a master driving force for the master robot based on the master displacement and the slave displacement by at least one master actuator and presenting a sense of force to the operator is characterized by this.
  • operation and “maneuvering” are properly used.
  • “Operation” is used in a local case where the person / operation to be operated is focused.
  • “steering” is used when the entire action including not only the person who operates the robot but also the operated robot is considered. Therefore, in this specification, the operator operates the master robot, and the operator controls the slave robot.
  • Power amplification robot as used in this specification is a device that is generally understood as a power assist robot.
  • the “master / slave system” refers to an integrated system including a master robot and a slave robot as well as a control device for controlling these.
  • “dynamics” indicates a comprehensive concept including all dynamic characteristics such as inertia, friction, and centrifugal force.
  • “different structure” refers to a master robot and a slave robot that constitute a master-slave system having different geometric structures (see FIG. 5). The master robot and the slave robot constituting the slave system indicate the same geometric structure.
  • master-slave system 10 shown in FIG. 5 d represents the working end of the slave robot S, and G represents the operating end of the master robot M serving as an interface with the operator U.
  • admittance type means that a master robot operated by an operator outputs a master operating force received from the operator, while receiving a displacement or speed input to generate a master driving force to generate the master driving force. It is assumed that a force sense presentation is indicated (see FIG. 4).
  • the “impedance type” is the opposite, in the master robot operated by the operator, while outputting the master displacement or speed, the master driving force is generated by receiving the force input, and the operator senses force. It shall indicate what is to be presented.
  • the impedance type or admittance type is a concept used in the field of virtual reality and is rarely used for a master-slave system.
  • the “mechanism transparency” in this specification is a concept mainly used in the field of wearable robots and master-slave systems. This is because “the dynamics (dynamics) of the robot mechanism worn or operated by the robot operator is apparent to the operator (in terms of kinematics), and the wrinkles are transparent (as if there is nothing. ) "Feel”.
  • the operator in a master-slave system in which a relatively high-power slave robot is controlled by an operator by manipulating a relatively low-power master robot, the operator can feel as if the robot is a slave robot. It is possible to provide a master-slave system and a control method therefor that enable intuitive operation as if the robot is directly held and that does not require a force sensor on the slave robot side. According to the present invention, the slave robot can be operated according to the slave dynamics, and at the same time, the master robot is interlocked with the slave robot. It becomes possible to provide.
  • FIG. 1 is a diagram showing an embodiment of a master-slave system of the present invention.
  • FIG. 2 is a conceptual diagram of a limb power amplification master / slave system according to another embodiment of the master / slave system of the present invention.
  • FIG. 3 is a conceptual diagram of a limb power amplification master / slave system according to still another embodiment of the master / slave system of the present invention.
  • FIG. 4 is a diagram illustrating the difference in concept between impedance-type force sense presentation and admittance-type force sense presentation.
  • FIG. 5 is a diagram illustrating an example of a different-structure master-slave manipulator.
  • FIG. 6 is a conceptual diagram of the upper limb power amplification master / slave system.
  • FIG. 1 is a diagram showing an embodiment of a master-slave system of the present invention.
  • FIG. 2 is a conceptual diagram of a limb power amplification master / slave system according to another embodiment of the master / slave system of the present invention.
  • FIG. 7 is a conceptual diagram of a mechanical master / slave system.
  • FIG. 8 is a conceptual diagram showing the unilateral control.
  • FIG. 9 is a conceptual diagram showing symmetric bilateral control.
  • FIG. 10 is a conceptual diagram showing the force reverse feed type bilateral control.
  • FIG. 11 is a conceptual diagram showing the force feedback type bilateral control.
  • FIG. 12 is a conceptual diagram showing a general expression of the control system of the master / slave system.
  • FIG. 1 is a diagram showing an embodiment of a master-slave system according to the present invention.
  • FIG. 1 may be considered as an application of the present invention to the upper limb power amplification master-slave system previously shown in FIG.
  • the surface difference between the master-slave system of the present invention shown in FIG. 1 and the upper limb power amplification master-slave system shown in FIG. 6 will be pointed out.
  • the work force sensor illustrated as Fs at the work end d is not necessary in this embodiment, and it should be noted that the work force sensor is not shown in FIG.
  • the operating force to measure the operating force f m to the master robot M-terminal G the sensor Fm disposed is to "projecting" operation force f m to the slave robot S in the slave driving force to the side tau s.
  • a force projection type bilateral control or bilateral master-slave system such referred to as a force projection type bilateral control or bilateral master-slave system, and this term is used as needed.
  • the force progressive bilateral master-slave system 1 is provided at different positions of the trunk B and is electrically connected to each other in the following manner. It consists of M and slave robot S.
  • the master robot M is an admittance type force sense presentation device operated by the operator U.
  • Each of the master robot M and the slave robot S has a grip G as an operation end and a work end d on one end side, and the other end side is provided at a different position on the trunk B.
  • Each of the master robot M and the slave robot S has two links, one end connected to the grip G or the work end d, the other end connected to the trunk B, and the link.
  • the grip G is provided with an operation force sensor Fm.
  • the force progressive bilateral master-slave system 1 according to the present embodiment is provided with trajectory control means PCm on the master robot M side and driving force control means FCs on the slave robot S side.
  • the sensor and the actuator are electrically connected.
  • Operation force sensor Fm is provided in the master robot M side, it detects the master operation force f m from the operator U. In this embodiment, it is provided on the grip G of the master robot M.
  • the slave actuators Ps 1 to 3 are provided at the respective joints of the slave robot S, and generate the slave driving force ⁇ s through the slave driving force control means FCs based on the signal from the operation force sensor Fm.
  • Master displacement sensors Pm 1 ⁇ 3 is provided at each joint of the master robot M, detects the master displacement x m.
  • the slave displacement sensor Ps 1 ⁇ 3 is provided at each joint of the slave robot S, detects a slave displacement x s.
  • the master actuators Am 1 to 3 are provided at each joint of the master robot M, and generate a master driving force ⁇ m based on the master displacement x m and the slave displacement x s .
  • the master actuators Am 1 to 3 generate the master driving force ⁇ m through the trajectory control means PCm based on the difference between the signals from the master displacement sensors Pm 1 to 3 and the slave displacement sensors Ps 1 to 3 .
  • the force progressive die bilateral master slave system 1 is driven by a slave actuator Ps 1 ⁇ 3 for the slave robot S that generates a slave driving force tau s based on the master operating force f m
  • the master robot M is driven by master actuators Am 1 to 3 that generate a master driving force ⁇ m based on an error generated between the master displacement x m and the slave displacement x s .
  • the force progressive feed type which comprises the master robot M, which is an admittance type force sense presentation device operated by an operator, and the slave robot S electrically connected to the master robot M, whose schematic configuration has been described above.
  • the bilateral master-slave system 1 detecting a master operating force f m from the operator U by i) provided in the master robot M side operation force sensor Fm, ii) generating a slave driving force ⁇ s by slave actuators As 1 to 3 provided in the slave robot S based on a signal from the operation force sensor Fm; iii) detecting a master displacement x m by master displacement sensors Pm 1 to 3 provided in the master robot M; iv) detecting a slave displacement x s by slave displacement sensors Ps 1 to 3 provided in the slave robot S; v) Master displacement sensors Pm 1 ⁇ 3 and the slave displacement sensor Ps 1 ⁇ generating a master driving force tau m by the master actuator Am 1 ⁇ 3 for generating a master driving force
  • Equation (10) relates to the master robot side and Equation (11) relates to the slave robot side.
  • ⁇ s ⁇ s (f That is, m 2 ) represents that the slave driving force ⁇ s is a function of the master operating force f m .
  • the master operating force f m is reduced by the influence of the dynamics of the slave robot S and the slave working force f s of the slave robot S by S f ⁇ 1. Been added. If the scale factor Sf is multiplied on both sides of the above equation (12), the following equation (13) is derived.
  • the scale factor S f itself is as described above, and the presence of the scale factor S f allows the operator to become “powerful and get a sense of operating the slave robot and further the target object”. It becomes possible. In terms of the control law, the scale factor S f can be regarded as a so-called power.
  • this is a bilateral master-slave system based on the power amplification concept disclosed in Non-Patent Document 2 or 8, in which "the operation force is amplified by Sf times and the slave terminal is directly operated".
  • the sense is reversely transmitted by the master actuators Am 1 to 3 that generate the master driving force ⁇ m based on the slave displacement x s and the master displacement x m. Is done.
  • the operation force f m of the master robot M side is by human power
  • the working power on the slave robot S side is a large output.
  • the impact force from the environment can be avoided on the master robot M side, but the impact force from the environment is unavoidable on the slave robot S side. That is, the conditions on the master robot M side are appropriate for the multi-axis force sensor, but the slave robot S side is inferior. Therefore, said 1.
  • This feature is suitable for a master-slave system as a power amplification robot illustrated in FIG. 1 or FIG. In addition, 2. And 3. This feature is important from the viewpoint of man-machine synergy as described below.
  • the operator U mainly matches the operation input to the mechanical impedance of the master robot M and the dynamics controlled by the environment. .
  • the slave robot S and the dynamics controlled by the environment are matched.
  • the force reverse feed type or force feedback type bilateral master-slave system 32, 33 has an operator U Matches the operation input to the “cycle in which you can easily walk on the master device (or do not ride on anything)”, but this is forced to follow the non-matching walking cycle for the slave device.
  • bilateral master-slave system 31-33 and 1 of the four mentioned above are driven only by an external force -f s.
  • the following equations (14) to (16) are obtained.
  • the slave robot S receives an external force, it is under the influence of the dynamics of the master robot M, which is only an operating device.
  • the master-slave system will work.
  • the master-slave system When applied, it should be recognized as a very important performance factor.
  • the master-slave system is not excessively moved by an external force.
  • the slave robot S is interlocked with the master robot M" according to the equation (4).
  • External force -f s master robot M by is moved (see formula (14) to (16)) and also in conjunction slave robot S, whereby an external force -f s is changed. This contributes to destabilization of the master / slave system.
  • the force progressive die bilateral master slave system 1 of the present invention shown in FIG. 1 the master robot M which manipulated by the operator U, while outputting a master operating force f m received from the operator U, It is an admittance type force sense presentation device that generates a master drive force ⁇ m by receiving a displacement or speed input and presents a force sense to the operator. That is, as shown in FIG. 4, when viewed from the master robot M side, it can be said that the force progressive bilateral master-slave system 1 according to the present invention is an admittance type force sense presentation. Unlike this, in the force reverse feed type or force feedback type bilateral master-slave systems 32 and 33 shown in FIG.
  • the master robot M is an impedance type force sense presentation device (see FIG. 4).
  • impedance-type force sense presentation the master robot M can be operated and input from any part of the apparatus.
  • the slave robot S can not present a force sense unless it is a reaction force from the work force sensor Fs portion. That is, the operator U must perform work using a part other than the work force sensor Fs portion of the slave robot S without a sense of force, and may not be able to recognize contact with the environment other than the work force sensor Fs part. is there.
  • the force progressive bilateral master-slave system 1 uses the master robot M as an admittance type force sense presentation device, a reaction force from any part of the slave robot S can be presented to the master robot M. it can.
  • an operation input to the master robot M by the operator U is performed from the operation force sensor Fm portion.
  • FIG. 12 is a conceptual diagram showing a general expression of the control system of the master / slave system.
  • the master actuators Am 1 to 3 generate the master driving force ⁇ m based on an error generated between the master displacement x m and the slave displacement x s.
  • the control may be performed to generate the master driving force ⁇ m based on an amount other than an error, for example, a differential amount of displacement.
  • the number of master or slave actuators and the number of master or slave displacement sensors are not limited to the numbers described in the above embodiments. In the above description of the embodiment, only displacement and driving force are described.
  • the displacement is not limited to translational displacement, but may be generalized displacement that allows a mixture of rotational displacements
  • the driving force is not limited to translational force. It may be a generalized driving force that allows a mixture of torques.
  • the force progressive bilateral master-slave system operates at least an electrically connected slave robot at least electrically by an operator operating a relatively small output master robot.
  • the present invention can be used for a master-slave system.

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Abstract

L'invention concerne un système maître/esclave (1) qui est commandé de manière bilatérale, dont un robot maître (M) est considéré comme dispositif de rétroaction de force de type à admittance, et qui comprend : un capteur de déplacement maître (Pm) qui détecte le déplacement du robot maître (M); un capteur de déplacement esclave (Ps) qui détecte le déplacement d'un robot esclave (S); un actionneur maître (Am) qui commande le robot esclave (M); un actionneur esclave (As) qui commande le robot esclave (S); et un capteur de force d'actionnement (Fm) qui détecte la force d'actionnement qu'un utilisateur (U) applique sur le robot maître (M).
PCT/JP2011/056692 2010-03-15 2011-03-15 Système maître/esclave et procédé de commande dudit système Ceased WO2011115287A1 (fr)

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