WO1996009144A1 - Manipulateur maitre/esclave et son procede de commande - Google Patents
Manipulateur maitre/esclave et son procede de commande Download PDFInfo
- Publication number
- WO1996009144A1 WO1996009144A1 PCT/JP1995/001864 JP9501864W WO9609144A1 WO 1996009144 A1 WO1996009144 A1 WO 1996009144A1 JP 9501864 W JP9501864 W JP 9501864W WO 9609144 A1 WO9609144 A1 WO 9609144A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- slave
- master
- manipulator
- force
- operation amount
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40401—Convert workspace of master to workspace of slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40405—Master slave position control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45012—Excavator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45058—Grinding, polishing robot
Definitions
- Fig. 25A and Fig. 25B if the corresponding positions of the tips of Master 1 and Slave 2 can be moved, the operator can easily operate Master 1 regardless of the position of Slave 2.
- the master 1 can be operated without being concealed, contributing to a reduced burden during operation and safe work.
- Step 4 Set a plurality of target points corresponding to each of the plurality of representative points in Step 3 in the other operation area,
- the movement amount of each degree of freedom of the one manipure when the tip of the two puree is positioned is obtained (step 62).
- a plurality of target points corresponding to each of the plurality of representative points are set on and within the limit surface of the operation area of the other manipulator (step 63), and the tip of the other manipulator is set at each of the plurality of target points.
- the motion amount of each degree of freedom of the other manipulator when is located is calculated (step 64).
- the correspondence between the set of motion amounts of each degree of freedom of one manipulator and the set of motion amounts of each degree of freedom of the other manipulator is determined (step 65).
- the correspondence stored in advance by the control means may be a correspondence based on a plurality of target points obtained by setting the distribution unevenly.
- the control means stores a plurality of correspondences with different degrees of non-uniform setting of distribution, and can select a desired correspondence from the plurality of correspondences based on a command from a separately provided selection command transmission means. May be used.
- the "interrupting the operation signal from the master to the second comparator" in the second invention of the method is performed by a first opening / closing switch (hereinafter, referred to as a first switch) and a first comparator. That is, when the first switch is closed, the first comparator compares the two operation signals of the same value from the cell, so what is the deviation? It becomes T. Therefore, the master can operate freely without operating the slave. Further, since the enlargement ratio is multiplied by the deviation of zero by the enlargement ratio multiplier, the output from the enlargement ratio multiplier to the adder is ⁇ . Therefore, the enlargement ratio can be freely changed.
- the slave operation signal when the operation signal from the master is cut off can be conveniently stored in the second hold unit.
- this storage operation signal is output to the adder, as described above, the output from the magnification ratio multiplier to the adder is zero, so only this useful operation signal is output to the second comparator by the slave. Entered as the operation target value.
- the second comparator compares the operation target value with the current operation signal of the slave, and attempts to operate the slave such that the deviation becomes.
- this operation target value is a constant value stored in the second hold unit, the slave keeps maintaining the posture based on the operation target value.
- FIG. 21A and FIG. 21B are operation trajectories in the linear correspondence of the operation S according to the conventional technology
- FIG. 21A is a diagram showing the operation trajectory of the master
- FIG. 21B is an operation trajectory of the slave Figure
- FIG. 22 is an explanatory diagram of a command transmission system for a fixed response posture and an enlargement ratio according to the conventional technology
- Fig. 23 is an explanatory diagram of a command transmission system for moving a corresponding position and changing the enlargement ratio according to the conventional technology
- Fig. 24A And FIG. 24B is a diagram showing a normal operation between manipulators according to the prior art, where FIG. 24A is an explanatory diagram of a master, FIG. 24B is an explanatory diagram of a slave, FIG. 25A and FIG. 5B is a diagram when the corresponding position between the manipulators according to the prior art is moved, FIG. 25A is an explanatory diagram of a master, FIG. 25B is an explanatory diagram of a slave, and FIG. 26A and FIG. FIG. 26A is an explanatory diagram of a master, FIG. 26B is an explanatory diagram of a slave, and FIG.
- FIG. 1 schematically shows the link mechanism between Master 1 and Slave 2, and shows the mass movement detection means 4 (41, 4 2) and Slave operation means 5 (5 1, 5 2) of Master 1.
- FIG. 3 is a diagram in which a selection command transmission means 6 is connected to a control means 3.
- the master operation amount detection means 41 is a rotary encoder provided at the first joint of the master 1
- the master operation amount detection means 42 is a rotation encoder provided at the second joint of the master 1.
- the slave operating means 51 is a rotary motor provided at the first joint of the slave 2
- the slave operating means 52 is a rotary motor provided at the second joint of the slave 2.
- Figure 9 shows the normal operating state of both manipulators, with all switches 8a, 8b and 8c open. Therefore, the reference attitude information 0 mo and 0 so in the equation (9) are constant values, that is, both sample hold units 9 a and 9 b are input immediately before opening the first switch 8 a and the second switch 8 b. Posture information 0 m, ⁇ s (old value).
- the control means 30 can notify the operator of the state of F s ⁇ F 0, for example, by adding the notification means 12 to a unilateral system.
- the notification means 12 can notify the operator of the state of F s ⁇ F 0, for example, by adding the notification means 12 to a unilateral system.
- the bilateral system it is possible to perform the manipulée overnight operation while grasping the upper limit of the working force.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019970701790A KR970706108A (ko) | 1994-09-21 | 1995-09-19 | 마스터슬레이브 매니퓨레이터 및 그 제어방법(master/slave manipulator and control method therefor) |
US08/809,393 US5949686A (en) | 1994-09-21 | 1995-09-19 | Master/slave manipulator and control method therefor |
EP95931440A EP0816020A4 (en) | 1994-09-21 | 1995-09-19 | MASTER / SLAVE MANIPULATOR AND ITS CONTROL METHOD |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP25154394A JP3315538B2 (ja) | 1994-09-21 | 1994-09-21 | マスタ・スレーブマニピュレータ及びそのスレーブ制御方法 |
JP6/251543 | 1994-09-21 | ||
JP27285694A JPH08108380A (ja) | 1994-10-11 | 1994-10-11 | マスタ・スレーブマニピュレータ及びその制御方法 |
JP6/272856 | 1994-10-11 | ||
JP27970694A JPH08118262A (ja) | 1994-10-20 | 1994-10-20 | マスタスレーブマニピュレータ |
JP6/279706 | 1994-10-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996009144A1 true WO1996009144A1 (fr) | 1996-03-28 |
Family
ID=27334039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/001864 WO1996009144A1 (fr) | 1994-09-21 | 1995-09-19 | Manipulateur maitre/esclave et son procede de commande |
Country Status (4)
Country | Link |
---|---|
US (1) | US5949686A (ja) |
EP (1) | EP0816020A4 (ja) |
KR (1) | KR970706108A (ja) |
WO (1) | WO1996009144A1 (ja) |
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US8121891B2 (en) * | 1998-11-12 | 2012-02-21 | Accenture Global Services Gmbh | Personalized product report |
US10820949B2 (en) * | 1999-04-07 | 2020-11-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with dynamically adjustable slave manipulator characteristics |
US6356803B1 (en) | 2000-05-19 | 2002-03-12 | International Business Machines Corporation | Automated data storage library distributed control system |
WO2005069095A1 (ja) * | 2004-01-20 | 2005-07-28 | Hitachi, Ltd. | バイラテラルサーボ制御装置 |
US9314921B2 (en) | 2011-03-17 | 2016-04-19 | Sarcos Lc | Robotic lift device with human interface operation |
US20130013108A1 (en) * | 2011-04-29 | 2013-01-10 | Raytheon Company | Robotic Agile Lift System With Extremity Control |
US8977388B2 (en) | 2011-04-29 | 2015-03-10 | Sarcos Lc | Platform perturbation compensation |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US8892258B2 (en) | 2011-04-29 | 2014-11-18 | Raytheon Company | Variable strength magnetic end effector for lift systems |
US8942846B2 (en) | 2011-04-29 | 2015-01-27 | Raytheon Company | System and method for controlling a teleoperated robotic agile lift system |
ES2416931B2 (es) * | 2011-12-30 | 2014-02-18 | Universidad Politécnica de Madrid | Método de guiado de dispositivos robóticos teleoperados para alternar modo de control en posición y modo de control en velocidad |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
JP6965785B2 (ja) * | 2018-02-15 | 2021-11-10 | オムロン株式会社 | 制御システム、スレーブ装置制御部、制御方法およびプログラム |
CN113165161B (zh) * | 2018-12-21 | 2024-02-06 | 川崎重工业株式会社 | 机器人系统以及机器人系统的控制方法 |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
DE102019112958A1 (de) * | 2019-05-16 | 2020-11-19 | Technische Universität Dresden | Verfahren zur landwirtschaftlichen Bodenbearbeitung, Werkzeugsystem, Generatormodul sowie deren Verwendung |
JP7277340B2 (ja) * | 2019-11-15 | 2023-05-18 | 川崎重工業株式会社 | マスタスレーブシステム、制御方法及び制御装置 |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61252081A (ja) * | 1985-04-30 | 1986-11-10 | 工業技術院長 | マスタ・スレ−ブ・マニピユレ−タ |
JPS6279978A (ja) * | 1985-09-30 | 1987-04-13 | 株式会社明電舎 | マニピユレ−タの過負荷制御装置 |
JPH0271979A (ja) * | 1988-09-05 | 1990-03-12 | Hitachi Ltd | マニピュレータの制御方法および装置 |
JPH04372380A (ja) * | 1991-06-17 | 1992-12-25 | Hitachi Ltd | マニピュレ−タの操作装置 |
Family Cites Families (9)
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JPS61146482A (ja) * | 1984-12-20 | 1986-07-04 | 工業技術院長 | 異構造異自由度バイラテラル・マスタスレイブ・マニピユレ−タの制御装置 |
JPS61241077A (ja) * | 1985-04-17 | 1986-10-27 | 株式会社明電舎 | マスタ−マニプレ−タ |
US4831531A (en) * | 1987-02-20 | 1989-05-16 | Sargent Industries, Inc. | System for the performance of activity in space |
JP2664205B2 (ja) * | 1988-06-10 | 1997-10-15 | 株式会社日立製作所 | マニピュレータ制御システム |
JPH02145272A (ja) * | 1988-11-22 | 1990-06-04 | Toshiba Corp | 異構造マスタ・スレーブマニピュレータ |
JPH03178788A (ja) * | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
JP2819367B2 (ja) * | 1992-12-18 | 1998-10-30 | 日東工器株式会社 | マニピュレータの安全操作システム |
CA2103626A1 (en) * | 1993-08-09 | 1995-02-10 | Septimiu Edmund Salcudean | Motion scaling tele-operating system with force feedback suitable for microsurgery |
-
1995
- 1995-09-19 EP EP95931440A patent/EP0816020A4/en not_active Withdrawn
- 1995-09-19 WO PCT/JP1995/001864 patent/WO1996009144A1/ja not_active Application Discontinuation
- 1995-09-19 KR KR1019970701790A patent/KR970706108A/ko not_active Application Discontinuation
- 1995-09-19 US US08/809,393 patent/US5949686A/en not_active Expired - Lifetime
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61252081A (ja) * | 1985-04-30 | 1986-11-10 | 工業技術院長 | マスタ・スレ−ブ・マニピユレ−タ |
JPS6279978A (ja) * | 1985-09-30 | 1987-04-13 | 株式会社明電舎 | マニピユレ−タの過負荷制御装置 |
JPH0271979A (ja) * | 1988-09-05 | 1990-03-12 | Hitachi Ltd | マニピュレータの制御方法および装置 |
JPH04372380A (ja) * | 1991-06-17 | 1992-12-25 | Hitachi Ltd | マニピュレ−タの操作装置 |
Also Published As
Publication number | Publication date |
---|---|
US5949686A (en) | 1999-09-07 |
EP0816020A4 (en) | 1999-04-21 |
KR970706108A (ko) | 1997-11-03 |
EP0816020A1 (en) | 1998-01-07 |
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