JPH0151313B2 - - Google Patents
Info
- Publication number
- JPH0151313B2 JPH0151313B2 JP57193456A JP19345682A JPH0151313B2 JP H0151313 B2 JPH0151313 B2 JP H0151313B2 JP 57193456 A JP57193456 A JP 57193456A JP 19345682 A JP19345682 A JP 19345682A JP H0151313 B2 JPH0151313 B2 JP H0151313B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- arm
- tip
- joint arm
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000000034 method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 239000003758 nuclear fuel Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012958 reprocessing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
Description
【発明の詳細な説明】
〔発明の属する技術分野〕
この発明は、人が立入ることが出来ない狭隘な
空間内の簡単な作業を遠隔で行うことのできる多
関節アームの制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of the Invention] The present invention relates to a method for controlling a multi-joint arm that allows simple work to be performed remotely in a narrow space where humans cannot enter.
核燃料再処理工場の遮蔽セル内の塔槽類や核融
合炉の炉体内部の如く、大きな開口部を設置して
人間が中に入つて内部の様子を検査したり、作業
をしたりすることが、空間的制限や高放射線領域
と云つた安全上の制限からも不可能な施設では、
運転者である人間は安全な領域に居て、所定の作
業を行う機械だけを前記の如き環境内に設置して
遠隔制御により作業を行うことが出来る装置の実
用化が強く要望されている。
Setting up large openings such as towers and tanks in shielded cells of nuclear fuel reprocessing plants or inside the reactor body of nuclear fusion reactors so that people can enter to inspect the interior or perform work. However, in facilities where this is not possible due to space limitations or safety restrictions such as high radiation areas,
There is a strong demand for the practical use of a device that allows a human operator to stay in a safe area, install only a machine that performs a predetermined work in the environment, and perform the work by remote control.
この発明の目的は悪環境下における検査や作業
を遠隔操作で、運転者の精神的、肉体的負担なく
行うことが出来る多関節アームの制御方法を提供
するにある。
An object of the present invention is to provide a method of controlling a multi-joint arm that allows inspection and work to be carried out under adverse environments by remote control without causing mental or physical burden on the driver.
本発明は、関節部を介して複数個のアームを直
列に連結した多関節アームを前記関節部の関節角
度を制御しながら移動させる多関節アームの制御
方法において、
前記多関節アームの先端の移動方向に位置する
任意の目標点を前記多関節アームの先端に取付け
た立体テレビカメラで検出して前記目標点の方向
と距離の値を求め、この値をもとに前記多関節ア
ームの先端の移動位置を指定すると共に、それま
でに指定された前記多関節アームの先端の移動位
置同志を結ぶ直線上に前記関節部が略一致するよ
うに前記関節部の関節角度を制御して前記多関節
アームを駆動するようにしたものであり、曲がり
くねつた空間でも通りぬけて作業を行うことがで
きる多関節アームを目的地Ｑ点まで誘導させるた
めに、立体映像を見ながら多関節アームの通るべ
き軌道を次々に生成してゆくものである。
The present invention provides a method for controlling a multi-joint arm in which a multi-joint arm in which a plurality of arms are connected in series through joints is moved while controlling the joint angles of the joint parts, including: moving the tip of the multi-joint arm. An arbitrary target point located in the direction is detected by a stereoscopic television camera attached to the tip of the multi-joint arm, the direction and distance of the target point are determined, and based on these values, the direction and distance of the target point are detected. In addition to specifying a movement position, the joint angle of the joint part is controlled so that the joint part substantially coincides with a straight line connecting the previously specified movement positions of the tip of the multi-joint arm. It is designed to drive the arm, and can work through even winding spaces.In order to guide the multi-jointed arm to the destination point Q, it is possible to move the multi-jointed arm through while viewing a 3D image. It generates orbits one after another.
本発明によれば、悪環境下における作業を多関
節アームを用いる事により安全な場所に居ながら
遠隔操作が出来、しかも多関節アームの動きを制
御するのに熟練を要せず、容易に制御出来る効果
がある。
According to the present invention, by using a multi-joint arm, work can be carried out remotely in a safe place in a bad environment, and no skill is required to control the movement of the multi-joint arm, making it easy to control. There is a possible effect.
以下本発明の実施例について詳細に説明する。
第１図は本発明装置の多関節アームを原子力機器
の熱交換器内の検査に適用した例について示した
断面図である。
Examples of the present invention will be described in detail below.
FIG. 1 is a sectional view showing an example in which the multi-joint arm of the device of the present invention is applied to inspecting the inside of a heat exchanger of nuclear equipment.
このタンク１は入口の狭い開口部２を有し内部
には熱交換器の配管群３が配設され、開口部２か
らはタンク１の内部を直視できないが、配管群３
とタンク１の内壁との間には多関節アーム４の先
端Ｓに取りつけられた立体テレビカメラ１６と、
同所に取りつけられた作業器具が移動できる空間
が設けられている。多関節アーム４は単位アーム
５1，５2，…５ｎと、それらを直列に連結してい
る関節部６1，６2，…６ｎと、この多関節アーム
４の全体をタンク１内に挿入するように多関節ア
ーム４の根元を支持しながら移動可能とした移動
装置７とで主に構成され、関節部６1，６2，…６
ｎは各々に駆動機構を有し、この駆動機構を制御
することにより、関節角度θが変えられるように
構成され、移動装置７で多関節アーム４を押し出
した時にアーム５がタンク１の内壁や配管群３な
どに接触しないように立体映像を見ながら先端Ｓ
を目的地Ｑ点までスムーズに挿入できるようにな
つている。 This tank 1 has a narrow opening 2 at the entrance, and a group of piping 3 for a heat exchanger is arranged inside.The inside of the tank 1 cannot be seen directly from the opening 2;
and the inner wall of the tank 1, there is a three-dimensional television camera 16 attached to the tip S of the multi-jointed arm 4,
A space is provided in which work equipment installed in the same location can be moved. The multi-joint arm 4 includes unit arms 5 1 , 5 2 , ... 5n, joints 6 1 , 6 2 , ... 6 n that connect them in series, and the entire multi-joint arm 4 is inserted into the tank 1. It mainly consists of a moving device 7 that can move while supporting the base of a multi-joint arm 4, and joints 6 1 , 6 2 ,...6
n each has a drive mechanism, and by controlling this drive mechanism, the joint angle θ can be changed. Tip S while watching the 3D image to avoid contact with piping group 3 etc.
can be inserted smoothly to the destination point Q.
すなわち、このようにスムーズに挿入できる多
関節アームの制御装置は、第２図に示すように、
各関節を回転駆動させるためのモータ８1〜８ｎ、
各関節の回転角を計測するエンコーダ９1〜９ｎ、
多関節アーム移動機構７を駆動するモータ１０、
このモータ１０の移動量を計測するエンコーダ１
１および多関節アーム４の先端Ｓに取りつけられ
た立体テレビカメラ１６とが、モータ駆動制御装
置１３、計算機１４、計算機入出力装置１５、立
体モニタテレビ１７、目標点座標測定装置１８お
よびジヨイステツク１９などより構成されている
制御装置２０に接続されて構成されている。この
立体テレビカメラ１６と立体モニタテレビ１７と
からなる立体映像システムは、例えば２本のテレ
ビカメラと２台のモニタテレビを用いて、モニタ
テレビの２つの画像を立体鏡を介して視くことに
よつて立体映像を見ることのできるものである。 In other words, the control device for the multi-joint arm that can be inserted smoothly in this way is as shown in Figure 2.
motors 8 1 to 8n for rotationally driving each joint;
encoders 9 1 to 9n that measure the rotation angle of each joint;
a motor 10 that drives the multi-joint arm movement mechanism 7;
Encoder 1 that measures the amount of movement of this motor 10
1 and a stereoscopic television camera 16 attached to the tip S of the multi-joint arm 4, a motor drive control device 13, a computer 14, a computer input/output device 15, a stereoscopic monitor television 17, a target point coordinate measuring device 18, a joystick 19, etc. The control device 20 is configured to be connected to a control device 20 that is configured by the following. This stereoscopic video system consisting of a stereoscopic television camera 16 and a stereoscopic monitor television 17 uses, for example, two television cameras and two monitor televisions to view two images on the monitor television through a stereoscopic mirror. This allows you to see 3D images.
このように構成した本発明装置の動作は、第３
図に示した具体的な流れ図と、この流れ図の理解
を助けるために第４図のように示した説明図とを
参照にして説明すると、始めに立体テレビカメラ
１６の先端Ｓが第４図中のP0点にあるとして、
先ず、運転者は、立体テレビカメラ１６の向き
を、立体モニタテレビ１７に映るタンク内部の場
景を見ながら、ジヨイステイツク１９を操作して
関節６1を遠隔マニユアル操作で調整しながら動
かす。 The operation of the device of the present invention configured as described above is as follows.
Referring to the specific flowchart shown in the figure and the explanatory diagram shown in FIG. 4 to help understand this flowchart, first, the tip S of the stereoscopic television camera 16 is Assuming that P is at point 0 ,
First, the driver moves the direction of the three-dimensional television camera 16 while viewing the scene inside the tank displayed on the three-dimensional monitor television 17, operating the joystick 19 and adjusting the joint 61 by remote manual operation.
次にその場景の中で、立体テレビカメラ１６の
先端を移動したいと思う方向にある適当な目標点
R0を決めて、これに照準を合せる。照準は例え
ば十字線のカーソルで立体モニタテレビ１７の立
体映像中に重畳して映し出し、ジヨイステイツク
１９で立体モニタテレビ上の任意の位置に自由に
移動出来るようになつている。目標点座標測定装
置１８は前記のカーソルを作り出すと同時にカー
ソルのモニタ上の座標は目標点座標測定装置１８
で計測する。 Next, in the scene scene, select an appropriate target point in the direction in which you want to move the tip of the 3D television camera 16.
Decide on R 0 and aim at it. The aim is, for example, a crosshair cursor that is superimposed on the stereoscopic image of the stereoscopic monitor 17 and displayed, and can be freely moved to any position on the stereoscopic monitor 19 using the joystick 19. The target point coordinate measuring device 18 creates the cursor, and at the same time the coordinates of the cursor on the monitor are determined by the target point coordinate measuring device 18.
Measure with.
目標R0に照準を合せ終つたら、運転者は、カ
ーソルのモニタ映像上の座標値を計算機入出力装
置１５を使つて計算機１４に読込むよう指令す
る。この場合立体テレビカメラ１６は、人間の右
側と左側の目の映像に相当する２つの映像を立体
モニタテレビに切換えて写し出すので、P0から
見たR0の座標値は、２つの座標値P0（XR、YR）、
P0（XL、YL）（但し、添字Ｒは右目による座標、
Ｌは左目による座標を示す。）として読込まれる。 After aiming at the target R 0 , the driver instructs the computer 14 to read the coordinate values of the cursor on the monitor image using the computer input/output device 15 . In this case, the stereoscopic television camera 16 switches to the stereoscopic monitor television and projects two images corresponding to the images of the right and left eyes of a person, so the coordinate value of R 0 seen from P 0 is the two coordinate values P 0 ( XR , YR ),
P 0 (X L , Y L ) (However, the subscript R is the coordinate according to the right eye,
L indicates coordinates according to the left eye. ).
以上の動作が終ると計算機１４はR0点の方向
と距離l′を計算し、距離の値を計算機入出力装置
１５に出力する。運転者は、この距離の値とモニ
タテレビ１７の映像を見てR0の方向にどれだけ
立体テレビカメラ１６を進めたらよいか判断し、
その値ｌを計算機入出力装置１５から計算機１４
に入力する。 When the above operations are completed, the computer 14 calculates the direction and distance l' of the R0 point, and outputs the distance value to the computer input/output device 15. The driver looks at this distance value and the image on the monitor TV 17 and decides how far to move the 3D TV camera 16 in the direction of R0 .
The value l is transferred from the computer input/output device 15 to the computer 14.
Enter.
計算機１４は、立体テレビカメラ１６の先端Ｓ
をR0の方向にl′だけ動かすに必要な各関節６1〜
６ｎの回転角〔θ〕を算出したのち、その指令を
モータ駆動回路１３に出力する。この場合多関節
アーム移動機構７に対しては距離l′だけ移動する
ように指令を出してモータ１０を駆動するように
なつている。 The calculator 14 is located at the tip S of the stereoscopic television camera 16.
Each joint 6 1 ~ required to move by l′ in the direction of R 0
After calculating the rotation angle [θ] of 6n, the command is output to the motor drive circuit 13. In this case, a command is issued to the multi-joint arm moving mechanism 7 to move by a distance l', and the motor 10 is driven.
その結果、立体テレビカメラ１６の先端部Ｓは
P1迄移動する。 As a result, the tip S of the stereoscopic television camera 16 is
Move to P 1 .
以後、順次、目標点をR1に設定してP2迄移動、
R2に設定してP3迄と云つたように、同一手順の
繰返しによつて立体テレビカメラ１６の先端Ｓを
P8迄到達させれば、最後は立体テレビカメラ１
６の向きを必要に応じマニユアル操作で関節５1
を駆動してＱ点を映像の中心にくるように操作す
る。 After that, sequentially set the target point to R 1 and move to P 2 ,
By repeating the same procedure as setting R 2 and up to P 3 , the tip S of the stereoscopic television camera 16 is set.
If you reach P 8 , you will end up with 3D TV camera 1.
Manually adjust the direction of joint 5 1 as necessary.
to bring the Q point to the center of the image.
上記のように多関節アーム６を制御する場合、
各関節６1〜６ｎの軌道は、点P0〜Pnを直線で結
んだ折線上に出来るだけ来るように〔θ〕を決定
して、多関節アーム６が周囲の物体と衝突しない
ように制御する。具体的には、例えば、立体テレ
ビカメラの先端がP4点からP5点に移つたとき、
各単位アーム５1〜５5は0 1、1 2、2 3、
P3P4、4 5の線上に出来るだけくるように〔θ〕
を決定する。 When controlling the multi-joint arm 6 as described above,
[θ] is determined so that the trajectory of each joint 6 1 to 6n lies as much as possible on a polygonal line connecting points P 0 to Pn with a straight line, and the multi-joint arm 6 is controlled so as not to collide with surrounding objects. do. Specifically, for example, when the tip of the stereoscopic television camera moves from point P4 to point P5 ,
Each unit arm 5 1 to 5 5 is 0 1 , 1 2 , 2 3 ,
P 3 P 4 , 4 5 so that it is on the line as much as possible [θ]
Determine.
発明の内容の理解を容易にするため、２次元面
内を動く多関節アームを例にとり、発明の意図す
る所を述べたが、１関節に２自由度を持つた多関
節アームを用いても良く、このように構成する
と、３次元空間内を自在に動く遠隔操作が出来
る。 In order to make it easier to understand the content of the invention, the purpose of the invention has been described using an example of a multi-joint arm that moves in a two-dimensional plane. With this configuration, it is possible to remotely control the device to move freely in three-dimensional space.
また、多関節アーム先端に立体テレビカメラが
取りつけてあるが、先端にトルクレンチやグリツ
パ又はマグネツトチヤツク等をも装備すれば、ナ
ツト増し締めやルーズパーツの回収などの簡単な
作業を行うことが出来る。 In addition, a 3D television camera is attached to the end of the multi-joint arm, but if you also equip the end with a torque wrench, gripper, or magnetic chuck, you can perform simple tasks such as retightening nuts or collecting loose parts. I can do it.
第１図は本発明の概要を説明する断面図、第２
図は本発明の装置の構成を説明するブロツク図、
第３図は本発明の装置の制御流れ図、第４図は第
３図の理解を助けるための説明図である。
４……多関節アーム、５1〜５ｎ……単位アー
ム、６1〜６ｎ……関節部、７……多関節アーム
移動機構、８1〜８ｎ……モータ、９1〜９ｎ……
エンコーダ、１０……モータ、１１……エンコー
ダ、１３……モータ駆動装置、１４……計算機、
１５……計算機入出力装置、１６……立体テレビ
カメラ、１７……モニタテレビ、１８……目標点
座標測定装置、１９……ジヨイステイツク、２０
……制御装置。
Fig. 1 is a sectional view explaining the outline of the present invention, Fig. 2
The figure is a block diagram explaining the configuration of the device of the present invention.
FIG. 3 is a control flowchart of the apparatus of the present invention, and FIG. 4 is an explanatory diagram to help understand FIG. 3. 4...Multi-joint arm, 51-5n ...Unit arm, 61-6n ...Joint section, 7...Multi-joint arm movement mechanism, 81-8n ...Motor, 91-9n ...
Encoder, 10... Motor, 11... Encoder, 13... Motor drive device, 14... Computer,
15... Computer input/output device, 16... Three-dimensional television camera, 17... Monitor television, 18... Target point coordinate measuring device, 19... Joystick, 20
……Control device.
Claims (1)
した多関節アームを前記関節部の関節角度を制御
しながら移動させる多関節アームの制御方法にお
いて、 前記多関節アームの先端の移動方向に位置する
任意の目標点を前記多関節アームの先端に取付け
た立体テレビカメラで検出して前記目標点の方向
と距離の値を求め、この値をもとに前記多関節ア
ームの先端の移動位置を指定すると共に、それま
でに指定された前記多関節アームの先端の移動位
置同志を結ぶ直線上に前記関節部が略一致するよ
うに前記関節部の関節角度を制御して前記多関節
アームを駆動することを特徴とする多関節アーム
の制御方法。[Scope of Claims] 1. A method for controlling a multi-joint arm in which a multi-joint arm in which a plurality of arms are connected in series through joint parts is moved while controlling the joint angles of the joint parts, comprising the steps of: An arbitrary target point located in the moving direction of the tip is detected by a stereoscopic television camera attached to the tip of the multi-joint arm, the direction and distance of the target point are determined, and based on these values, the multi-joint arm is moved. Specifying the moving position of the tip of the multi-jointed arm, and controlling the joint angle of the joint so that the joint substantially coincides with a straight line connecting the previously specified moving positions of the tip of the multi-jointed arm. A method for controlling a multi-joint arm, comprising driving the multi-joint arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19345682A JPS5988280A (en) | 1982-11-05 | 1982-11-05 | Controller for multi-joint arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19345682A JPS5988280A (en) | 1982-11-05 | 1982-11-05 | Controller for multi-joint arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5988280A JPS5988280A (en) | 1984-05-22 |
| JPH0151313B2 true JPH0151313B2 (en) | 1989-11-02 |
Family
ID=16308297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19345682A Granted JPS5988280A (en) | 1982-11-05 | 1982-11-05 | Controller for multi-joint arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5988280A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0790492B2 (en) * | 1986-07-03 | 1995-10-04 | 三菱電機株式会社 | Remote-controlled manipulator device |
| JP4845341B2 (en) * | 2004-01-08 | 2011-12-28 | 独立行政法人 宇宙航空研究開発機構 | Control method of joint robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
-
1982
- 1982-11-05 JP JP19345682A patent/JPS5988280A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5988280A (en) | 1984-05-22 |
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