JPS5981092A - Controller for multi-joint arm - Google Patents
Controller for multi-joint armInfo
- Publication number
- JPS5981092A JPS5981092A JP18908382A JP18908382A JPS5981092A JP S5981092 A JPS5981092 A JP S5981092A JP 18908382 A JP18908382 A JP 18908382A JP 18908382 A JP18908382 A JP 18908382A JP S5981092 A JPS5981092 A JP S5981092A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- joint
- distance
- control device
- advanced
- 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.)
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Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
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装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] This invention relates to a device that remotely performs simple work in a narrow space that cannot be accessed by humans.
核燃料肖帆理工場の放射＃鴻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にして人間が
中に入って内部の様子を検査したり、節片な作業をした
りすることが空間的制限や高放射線レベル領域と云った
安全−Ｆの制限からも不可卵な施設では、作業者である
人間は安全な傾城に居て、所定の作業を行う機械だけを
前記の如き環境内に膜島して遠隔制御により作業のでき
る装置、の実用化が強く要望されている。例えば、第１
図に示すような屈曲部の多い起債・Ｈを検査対象とした
場合について説明する。なお、説明り理解を容易にする
ため、２次元墾間を例に・とる。As with the towers and tanks in the radiation/hungry shielding cells of the nuclear fuel factory in Xiaofanli and the inside of the reactor body of a nuclear fusion reactor, large openings are installed so that people can enter inside to inspect the internal state, In facilities where it is impossible to carry out any type of work due to spatial restrictions or safety-F restrictions such as areas with high radiation levels, human workers must remain on a safe slope and carry out the designated work. There is a strong desire to put into practical use a device that allows only machines to be isolated in the environment described above and to perform operations by remote control. For example, the first
A case will be described in which a debt issue H having many bent parts as shown in the figure is to be inspected. In order to facilitate explanation and understanding, we will use a two-dimensional space as an example.
いま配管系のＱ点近傍より漏洩があり、Ｑ点を内部から
４＊査しようとした場合、開口部（フランジ部）Ｋから
Ｑ点舎曲視することは不可能である。If there is a leak near point Q in the piping system and you try to inspect point Q from the inside, it will be impossible to view point Q from the opening (flange) K.
ブらに配′＾系Ｈが細くて人間が入り込むことが１１３
来ないｊむ合や、配管系内面が放射性物質で汚れていて
人間が接近でき力い場合は、このような桧柄はイ＼可能
になる。The H in the bra is so thin that humans can't fit into it.113
This kind of cypress pattern becomes possible if there are no radioactive materials or if the inner surface of the piping system is contaminated with radioactive materials and it is difficult for humans to approach.
この発明の目的は、悪環境下における検査や簡単な作業
を遠隔操作で、運転者の精神的、肉体的負担なく行うこ
とができる多関節アーム装置を提供するにある。An object of the present invention is to provide a multi-joint arm device that can perform inspections and simple tasks under adverse environments by remote control without causing mental or physical burden on the driver.
本発明は複数個のアーム′Ｉ：直列に関節部を介して連
結し、この連結したＩＰ：１節部の関節角度を制御する
よう構成してなる多関節アームの特に最先端アームの周
囲にこのアームの軸方向に垂直な方向の障害物までの距
離を計測する＋？＋ＩＭＳ鉛測手段を設け、この距離計
測手段で得られた怜報舎差に前記関節部の関節角度を制
御するよう構成した多関節アーム制御装置Ｋである。The present invention is directed to a multi-jointed arm configured to connect a plurality of arms 'I' in series via joints and to control the joint angle of the connected IP: 1 joint, especially around the most advanced arm. Measure the distance to the obstacle in the direction perpendicular to the axis of this arm +? This is a multi-joint arm control device K which is provided with +IMS lead measurement means and configured to control the joint angle of the joint portion based on the distance difference obtained by this distance measurement means.
本発明によれは、最先端アームの前方および側方を自動
的に監視し制御するため、従来なし得なかった悪環境下
における狭隘なを間における作業が、運転者は安全な場
所に活力から遠隔操作により実行可能となり、特に作業
者の放射線被曝配の低減が基１１要とされる原子力量″
４＃４設における効果は大きい。According to the present invention, the forward and lateral sides of the most advanced arm are automatically monitored and controlled, allowing the driver to work in a narrow space in a harsh environment, which was previously impossible to do, in a safe place and free of energy. Nuclear energy, which can be implemented by remote control and is particularly important to reduce radiation exposure for workers.
The effect in the 4#4 setting is significant.
以下、本発明の実施例について詳細にｉｑ明する。 Examples of the present invention will be explained in detail below.
本発明の実施例はが１，２図に示すような多関節アーム
装置ね゛に１Ｖｉ用され、人間が容塙に接近し得カい狭
隘な空間内における簡単な作業を可能にするためのもの
で、狭隘な曲りくねった空間でも通り抜けることが出来
る多関節アーム１とこの多関節アームを構成するユニッ
トアーム１１ ＋ ’ ！ ”：・・・ｌｎ＋１を連結
する関節２と、最先端アーム１．にと９つけた撮像装（
−１（テレビカメラ）３、前方の距離計４および側方の
距１’１ｉＰｉｔ ５と、テレビカメラ３の映像を映す
テレビモニタ６と、多関節アーム１の根元鴫、・支持し
、多関節アーム１の全体を移動するための多関節アーム
移動機構７と、これらを制御するだめの制御駆動部８で
構成した遠隔操作のできる装（４であり、多関節アーム
先端に設けた距離計で先端アーム０１１方及び側面の障
害物塩の距離を計測し、この伯−りを使って障害物を自
動的に回僻しつつ、多関節アームの先端を第１図に示す
ようなＱ点に到達せしめ、その検査を可卵、にしたもの
であるＯ
この多関節アーム装置を駆動制御するには、第３図に示
すような制御回路９で制御きれる。この制御回路９は、
多関節アーム装阿１内に設けらＪ′１゜ている各関節２
１ ＊ ２＊ ｓ・・・２ｎを動かすモータ１０ｓ、ｉ
ｏ、、・・・１０ｎと多関節アーム移動機構７を駆動す
るモータ１１とを駆動するモータ駆動回路１２と、この
モータ駆動回路１２に制御信号を入力する計算機１３と
、とのｌ−１算機１３の入出力を制御する計算機入出力
装置１４とで構成されている。また各関節２１．２電、
・・・２ｎの回転角社各関節に設けられたエンコーダ１
５＋ 、１５ｔ −・・・１５ｎの出カイ３号として計
算機１３に入力される。さらに前方の距ＩＪＵ計４と側
方の距離計５１ｅ５！ｙ・・・５・の出カイ＾号癲、そ
れぞれのイ吉号を順次走査してその計測量を記憶する距
＾Ｉｆ＠Ｌ測装ｆｉｔ １６ ？介して計ａ１機１３に
入力される。An embodiment of the present invention is applied to an articulated arm device as shown in Figs. A multi-joint arm 1 that can pass through narrow, winding spaces, and a unit arm 11 +' that makes up this multi-joint arm! ”:...The joint 2 that connects ln+1 and the imaging device attached to the most advanced arm 1.
-1 (television camera) 3, front range finder 4, side distance 1'1iPit 5, TV monitor 6 that displays the image of the TV camera 3, and the base of the multi-joint arm 1, supporting and multi-joint A remote control device (4) consisting of a multi-joint arm moving mechanism 7 for moving the entire arm 1 and a control drive section 8 for controlling these, and a distance meter installed at the end of the multi-joint arm. Tip arm 011Measure the distance to the obstacles on the sides and sides, and use this distance to automatically move around the obstacles while moving the tip of the multi-jointed arm to point Q as shown in Figure 1. In order to drive and control this multi-joint arm device, a control circuit 9 as shown in FIG. 3 can be used.
Each joint 2 provided in the multi-joint arm installation 1 and having a J'1 degree
1 * 2 * s...Motor 10s, i that moves 2n
10n, a motor drive circuit 12 that drives the motor 11 that drives the multi-joint arm movement mechanism 7, and a computer 13 that inputs a control signal to the motor drive circuit 12. The computer input/output device 14 controls the input/output of the computer 13. In addition, each joint has 21.2 electric currents,
...2n rotary angle encoder 1 installed at each joint
5+, 15t - . . . 15n are inputted into the calculator 13 as output No. 3. Furthermore, the front distance IJU meter 4 and the side distance meter 51e5! y... 5. Output distance ＾ If @L measuring instrument fit 16 ? Scan each successive number sequentially and memorize the measured amount? A total of a1 is inputted to the machine 13 via.
テレビカメラの映像はモニタテレビ１７で峡し出されて
いる。さらに、多関節アーム移動機構７の移軸針はエン
コーダ１８の出力信号を基に計算機１３でＦｉｔηされ
る。The image from the television camera is displayed on a monitor television 17. Further, the axis shifting needle of the multi-joint arm moving mechanism 7 is fitted by the computer 13 based on the output signal of the encoder 18.
距肉１＃ ＊１ｊｌｌｌ装置、１６は超音波を第１１用
した装置で、側方（７） 距ｔｉ１１． ＠ｌ’ ５＋
〜５ｍ ハ、第４ 図Ｋ ＃８２図中のＡ−Ａ断面で示
しだように、最先端アーム１．の周囲に等間隔で８個の
超音波素子１９．〜１９８が固定場れている。この超音
波素子１９．〜１９．は、例えば素子１９゜と素子１９
１１とが対となりアーム１．の軸に直角な方向に外方向
を向いて、それぞれ４絹が固定されていて、斜線で示し
た障害物２０の内部プロフィール、すなわち点Ａ、〜Ａ
８で形成するような多角形近似を得るためのものである
。1#*1jllll device, 16 is a device that uses ultrasound as the 11th, lateral (7) talus ti11. @l' 5+
~5m C, Figure 4 K As shown in the A-A cross section in Figure #82, the most advanced arm 1. Eight ultrasonic elements 19. ~198 is fixed field. This ultrasonic element 19. ~19. For example, element 19° and element 19
11 is paired with arm 1. The internal profile of the obstacle 20, indicated by diagonal lines, to which four silks are fixed, facing outward in the direction perpendicular to the axis of , i.e. points A, ~A
This is to obtain a polygonal approximation such as that formed by 8.
距離計測装置１６は、第５図に示すような回路で４１４
成されている。この回路は超音波素子１９１〜１９参（
アーム前方に設けた素子１９・を含む）に各々所定間隔
でパルスを発生するパルス発４ＨＫ＋ ２１、〜２１゜
と、このパルス発振器によって素子から超七波パルスを
発生させ、この発生した超音波パルスが障害物２０に反
射して来たパルス管受信する受信器２２゜〜２２．と、
これらのパルス発振器および受信器の動作順序を制御す
る走査制御回路２；３と、この走査制御回路２３の出力
信号でスタートシ、受信器２２゜〜２２゜の出カイ１号
でストップしこの第６図は、本発明の装置の制御の方法
を具体的に示す流れ図である１、第６図６は、第５図の
制御フローで第１図で示した検査対象のＱ点に第２図で
示した多関節アームの先端を誘嗜する手順を説明する図
である。そのときの各制御サイクルと多関節アーム先端
及び関節の位（ｊ７−は第１表に示１゜以下＃′、口
第 １ 表 （ａｌ
ｔスＴ−全０
第 １ 表 （ｂ）
間の時間を計ｉｎ＋ｊするカウンタ２４と、このカウン
タ２４のデータを記憶しかつカウンタの内容を順次取り
出してはリセットするレジスタ２５と、上述のカランク
２４に接続され一定周期の信号を出力するクロック発振
器２６と、とのクロック発振器２６のクロック信号を超
音波素子を順次動作させるに必要な所定の周期の信号に
変換する分周器２７とで主に構成すれている。なお、レ
ジスタ２５は、走査制御回路２３からの信号で制御され
るように構成され、計測された各々素子１９．〜１９゜
からのデータをシリアルに出力２８するようになっでい
る。この出力２８はｉ１１’ｊ機１３に入力さｉｔ後述
の計ηを行なう、。The distance measuring device 16 has a circuit 414 as shown in FIG.
has been completed. This circuit is used for ultrasonic elements 191-19 (
The pulse oscillator generates pulses at predetermined intervals to the elements (including the element 19 installed at the front of the arm) at predetermined intervals, and this pulse oscillator generates ultraseven-wave pulses from the elements, and the generated ultrasonic pulses A receiver 22° to 22. which receives the pulse tube reflected from the obstacle 20. and,
The scan control circuits 2 and 3 control the operation order of these pulse oscillators and receivers, and the output signals of this scan control circuit 23 are used to start the signal, stop at output 1 of the receivers 22° and 22°, and Figure 6 is a flowchart specifically showing the method of controlling the apparatus of the present invention. It is a figure explaining the procedure of attracting the tip of the multi-jointed arm shown in . At that time, each control cycle and the position of the end of the multi-jointed arm and the joint (j7- is shown in Table 1 below 1° #', A counter 24 that measures time in+j, a register 25 that stores the data of this counter 24 and sequentially takes out and resets the contents of the counter, and a clock oscillator 26 that is connected to the above-mentioned column 24 and outputs a signal of a constant period. , and a frequency divider 27 that converts the clock signal of the clock oscillator 26 into a signal with a predetermined period necessary to sequentially operate the ultrasonic elements.The register 25 is a scan control circuit. It is configured to be controlled by a signal from 23, and serially outputs 28 the measured data from each element 19. to 19°.This output 28 is input to the i11'j machine 13. It performs the sum η, which will be described later.
以下に、これら第６図、第７図および第１表を参照しつ
つ、本発明装置の制御についてその詳細ｆ説１明−シる
。A detailed explanation of the control of the apparatus of the present invention will be given below with reference to FIGS. 6, 7, and Table 1.
運転者は１ず、始めにアーム先端をＰ。点に誘η）する
。このとき手動運転モードをとると仮定すれば、先端の
テレビカメラ３の映像と、アーム側面の障害物プロフィ
ールをみながらの作業で容易に位置決め出来る。先端が
Ｐ。に位置決めできたら自動運転モードに入る。説明を
判りやすくするためにいま多関節アームのユニットアー
ム長１はすべて等しく、１制御サイクルにユニットアー
ム長だけ前進又は後退するものと仮定する。The driver first points the tip of the arm to P. Attract η) to the point. Assuming that the manual operation mode is selected at this time, the position can be easily determined by looking at the image from the television camera 3 at the tip and the obstacle profile on the side of the arm. The tip is P. Once the vehicle is positioned, it enters automatic operation mode. To make the explanation easier to understand, it is assumed that all the unit arm lengths 1 of the multi-jointed arms are equal and that they move forward or backward by the unit arm length in one control cycle.
Ｐｏ点では、アーム先端前方に障害物もなく、側面障害
物プロフィールの中心に先端があるので、そのままｌだ
け前進し２７点に進む、このときＰ。At point Po, there is no obstacle in front of the tip of the arm, and the tip is in the center of the side obstacle profile, so it moves forward by l and reaches point 27, at which point P.
点には第１表に示すように２１が来る。Ｐｔ点において
は、受性はＰ。点と同じであるため、再びｌだけ前進し
、先端はＰ／Ｌに達する。このときＰ。The point comes with 21 as shown in Table 1. At the Pt point, the susceptibility is P. Since it is the same as the point, it moves forward by l again and the tip reaches P/L. At this time P.
には２ＩがＰ、には２．が来る。Ｐｔ点では、側面障害
物プロフィールの中心にアーム先端がないので、これを
修正する制御をして先端をＰｔに４１ｉＥする。そして
、その向きにｌだけ前進させる。2I is P, 2. is coming. At point Pt, the arm tip is not located at the center of the side obstacle profile, so control is performed to correct this and the tip is moved to Pt by 41iE. Then move it forward by l in that direction.
以上のような制御サイクルを繰返すことによって容易に
Ｑ点を検査できる楊所にアームうＩ′：娼のプ゛レビカ
メラを持ってゆくことができる。第１表より明らか力如
く、関節２．〜２ｎは、ＰＯｒ Ｐ１＋ ”！ｔ・・・
Ｐｉの順にひとつ前方の関節が通過した点４・１制御サ
イクル遅れて忠実に辿るように制御うれは良いので、制
御は至極容易である。前方の距離Ｘｆの限界値は、！よ
り少し７長目に選べばよいが、テレビカメラ３のレンズ
の熱点ｌ？１１離も考慮した方がよい場合があり、外部
から設定可能にしておく必要がある。側方距離の最少値
Ｍｉ ｎ ［Ｘ ｉ 〕の限界値もアームの太さ、ｌｓ
及び通ｉ晶させなければならない空間の大きさ等を考慮
する必要があるので、外部から設定可能にしておく′こ
とがのぞましい。By repeating the above control cycle, it is possible to take the arm and the preview camera to a location where the Q point can be easily inspected. From Table 1, it is clear that the force is similar to joint 2. ~2n is POr P1+ ”!t...
The control is very easy because the control is so good that it faithfully follows the point passed by the next joint in the order of Pi, with a delay of 4.1 control cycles. The limit value of the forward distance Xf is! It would be better to choose a slightly longer length, but the hot point of the lens of the TV camera 3? In some cases, it may be better to consider 11 distances, and it is necessary to allow setting from the outside. The limit value of the minimum lateral distance Min [X i ] is also the thickness of the arm, ls
Since it is necessary to consider the size of the space in which the crystal must be used, etc., it is desirable to be able to set it from the outside.
実際には、Ｐ、→Ｐ′、への前進やＰＬ→ｐＨへの首捗
りは、人間の判断が必要となるが、運転者は、検査対更
を用前に設側図を見て熟知することが出すにる。］−に
、′帛にテレビカメラ３の映１象をモニタテレビＪ７で
見ながら作業が出来るので運転者の負担し［ψを微にと
どめることができる。In reality, human judgment is required to advance from P to →P' or from PL to pH, but the driver must be familiar with the design by looking at the installation drawings before carrying out inspections and repairs. I'm going to put it out. In addition, since the work can be done while viewing the image of the television camera 3 on the monitor television J7, the burden on the driver can be kept to a small amount.
Ｑ点から、多（４１節アームを元に戻すときには、”
ＩＩ ＋ ＰＩｎ ｒ ”・”６を逆に各関節２＋〜２
ｎが、ひとつ抜力のＮ節が通過した点を１制御ザイクル
遅れで忠実に通るように制御すれば良い。From point Q, when returning the 41-section arm to its original position,
II + PIn r ”・” Reverse 6 to each joint 2+~2
It is sufficient to control n so that it faithfully passes the point through which the N node of one unloading force passes, with a delay of one control cycle.
なお、ヴＥｉ明の向合、の理ブ伜を容易にするため、２
次Ｊｌ：の面内を゛動く多Ｍ節アー・ムを例にとシ１兄
明したが、ｔｌ駄１石に２目山＋７ｆ ’ｉｚ持った多
関節アームを（Ｊｌえは、３次元空間内を自在に動きま
わる遠隔操作装置１′ｔを４：１〜成することができる
。In addition, in order to make it easier to move between the two
The next Jl: was explained using a multi-joint arm that moves within the plane of the 3D model as an example. The remote control device 1't, which can freely move around in the space, can be configured with a ratio of 4:1.
また、多関節アーム先罐１にテレビカメラをつけた検査
装置としての用途を例にとったが、先端にトルクレンチ
やマグネットチャック等″ｆ装備−罎れば、ナツトの増
し締めや、ルーヅバーツの回収などの作業も可能である
。In addition, we took as an example the use as an inspection device with a TV camera attached to the front can of the multi-jointed arm, but if the tip is equipped with a torque wrench, magnetic chuck, etc. Work such as collection is also possible.
次に、距離附捌装解は上述した超音波式に限らず、光学
的に距離を計測するものでｔ・っても良い。Next, the distance measurement solution is not limited to the above-mentioned ultrasonic method, but may also be one that measures distance optically.
−特にアーム先端に取りつける距離計は、頓音波式を例
にとったが、例えば、カメラｊＳｆｉ方ｈｉｊ＋古物塩
の１、す１４Ｆｉ１画は、先９１Ｍカメラを２台設け、
前方に光ビームを放射し、光ビームが作る障店物上のス
ポットを２台のカメラで映し、各々の映像のトｙ差から
障害物塩の距離を自動的に６１−制しても良い。- In particular, we used a sonic wave type rangefinder attached to the tip of the arm as an example, but for example, the camera jSfi way hij + Komonoshio 1, S14Fi 1 screen is equipped with two 91M cameras,
It is also possible to emit a light beam forward, use two cameras to record the spot on the obstacle created by the light beam, and automatically control the distance to the obstacle based on the toy difference between each image. .
第１図は、本発明の概＊ ’ｆｃ ＦｉＲ，明する被検
査物の断面図、杷２図は本発明装置の一部省略一部斜視
図、第３図は本発明の大施例を示す回路図 ｇＢ ４図
は第２図中のＡ−Ａ面より見た横１９ｉ面図、第５図は
本発明の実施例の要部回路図、第６図は、本発明の装置
°の制御の流れ図、第７しｌ：彫６図の理ｒ１゛１を１
すけるだめの１１φ２四図。
１・・・多関節アーム、２・・・関節、３・・・掃像装
買、４・・・１ｉｉｌ方甲Ｎｕ Ｎｔ 、ｓ・・・（Ｉ
ｔ１１方距離計、９・・・制御回路、１２・・・モータ
駆動回路、１３・・・１聯１機、１４・・・Ｉｔｎ：柄
入１１力４＋’ｉ ｆＦ（、１（ｉ ・＝ ｌｌｌμｌ
’！Ｉｔ ＊ｆ測ｉＪ：、 ｌｒ／、 。
化４１１人 弁理士 則 近 憲 佑 （ほか１
名）第 ２ 図
第３図
第４図
ｗｇ５図
ｔｌＩ４ａ図Fig. 1 is a sectional view of an object to be inspected showing the outline of the present invention, Fig. 2 is a partially omitted perspective view of the apparatus of the present invention, and Fig. 3 is a large-scale embodiment of the present invention. The circuit diagram shown in Fig. 4 is a horizontal 19i plane view seen from the A-A plane in Fig. 2, Fig. 5 is a circuit diagram of the main part of the embodiment of the present invention, and Fig. 6 is a diagram of the device of the present invention. Control flow diagram, No. 7: The principle of carved 6 diagram r1゛1 to 1
Sukerdame's 11φ24 diagram. 1... Multi-joint arm, 2... Joint, 3... Imaging device, 4...
t11 distance meter, 9...control circuit, 12...motor drive circuit, 13...1 unit, 14...Itn: pattern entry 11 force 4+'i fF(, 1(i ・= lllμl
'! It *f measurement iJ:, lr/, . 411 patent attorneys Kensuke Chika (and 1 others)
Figure 2 Figure 3 Figure 4 wg5 figure tlI4a figure
Claims (1)
この連結した関節部の関節角度を制御するように構成し
たものにおいて、前記アームの周囲に設けこのアームの
軸方向に垂直な方向の障害物までの距離を計測する距離
計測手段と、この距離計測手段で得られる情報を基に前
記関節部の関節角度を制御して前記障害物との接触を避
けるように動作づせる制御手段とを具備してなることを
特徴とする多関節アーム制御装置。 （２）ネジ数個のアームを最先端のアームと他のアーム
とに炉け、前記最先端のアームに前方の距離を釧測する
距離制とアームの周囲に設けて側方の距離をｉ日ｔｉ１
１する距離計とを具備してなることを特徴とする請求 ム制御装置。 （３） ＩＮ．数個のアームを最先端のアームと他の
アームとに分け、前記最先端のアームの辿った道筋を他
のアームが通るように構成したことを特徴とする特許請
求の範囲第１項記載の多関節アーム制御装置。 （４１ １ｉ’ｌ［針側手段を超音波距離計側手段と
したことを特徴とする特許請求の範囲＠１項記載の多関
節アーム制御装置。 （５）最先端アームに撮像装置を設けたことを特徴とす
る特許請求の範囲第３項記載の多関節アーム制御装置。 （６）撮伶装僅の最先対１１を距離計測手段で計測した
限界値内に配置したζとを特徴とする特許請求の範囲第
５項記載の多関節アーム制御装植，。 （７）撮像装Ｋを２台設けてこの２台の撮像装置で距離
計測手段を構成したことを特徴とする特許請求の範囲第
５項記載の多関節アーム制御装市。[Claims] (1) A plurality of arms are connected in series through joints,
In the device configured to control the joint angle of the connected joint portions, a distance measuring means is provided around the arm and measures a distance to an obstacle in a direction perpendicular to the axial direction of the arm; A multi-joint arm control device comprising: control means for controlling the joint angle of the joint portion based on information obtained by the means to operate the joint portion so as to avoid contact with the obstacle. (2) Put several screws between the most advanced arm and the other arm, and install a distance system on the most advanced arm to measure the distance in front, and a distance system around the arm to measure the lateral distance i. day ti1
1. A claim control device comprising: a distance meter for controlling the vehicle; (3) IN. Claim 1, characterized in that several arms are divided into the most advanced arm and other arms, and the other arms are configured to follow the path followed by the most advanced arm. Articulated arm control device. (41 1i'l [Multi-joint arm control device according to claim 1, characterized in that the needle side means is an ultrasonic distance meter side means. (5) An imaging device is provided on the most advanced arm. The multi-joint arm control device according to claim 3, characterized in that (6) the first pair 11 of the photographing device is arranged within a limit value measured by a distance measuring means; An articulated arm control device according to claim 5. (7) A patent claim characterized in that two imaging devices K are provided and these two imaging devices constitute distance measuring means. The articulated arm control device described in Scope 5.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18908382A JPS5981092A (en) | 1982-10-29 | 1982-10-29 | Controller for multi-joint arm |
| EP83306487A EP0108549B1 (en) | 1982-10-29 | 1983-10-25 | Control system of multi-joint arm robot apparatus |
| DE8383306487T DE3375107D1 (en) | 1982-10-29 | 1983-10-25 | Control system of multi-joint arm robot apparatus |
| US07/045,192 US4744719A (en) | 1982-10-29 | 1987-04-30 | Control system of multi-joint arm robot apparatus |
| US07/382,030 US5049028A (en) | 1982-10-29 | 1989-07-19 | Control system of multi-joint arm robot apparatus |
| US07/667,487 US5165841A (en) | 1982-10-29 | 1991-03-11 | Control system of multi-joint arm robot apparatus |
| US07/917,399 US5307447A (en) | 1982-10-29 | 1992-07-23 | Control system of multi-joint arm robot apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18908382A JPS5981092A (en) | 1982-10-29 | 1982-10-29 | Controller for multi-joint arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5981092A true JPS5981092A (en) | 1984-05-10 |
| JPH0512110B2 JPH0512110B2 (en) | 1993-02-17 |
Family
ID=16235025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18908382A Granted JPS5981092A (en) | 1982-10-29 | 1982-10-29 | Controller for multi-joint arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5981092A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015171735A (en) * | 2014-03-11 | 2015-10-01 | 株式会社ａｍｕｓｅ ｏｎｅｓｅｌｆ | Flexible arm device, and inspection diagnosing system |
| JP2017223087A (en) * | 2016-06-17 | 2017-12-21 | 東日本高速道路株式会社 | Imaging device and imaging system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4872855A (en) * | 1971-12-29 | 1973-10-01 | ||
| JPS52105464A (en) * | 1976-02-27 | 1977-09-03 | Hitachi Ltd | Collision preventing apparatus in use of ultrasonic wave |
| JPS5321056A (en) * | 1976-08-10 | 1978-02-27 | Shin Meiwa Ind Co Ltd | Method of controlling position controller |
| JPS5689492A (en) * | 1979-12-17 | 1981-07-20 | Fujitsu Ltd | Method of positioning joint mechanism |
| JPS57173496A (en) * | 1981-04-20 | 1982-10-25 | Hitachi Ltd | Three-dimensional position detecting method for automatic machine |
-
1982
- 1982-10-29 JP JP18908382A patent/JPS5981092A/en active Granted
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4872855A (en) * | 1971-12-29 | 1973-10-01 | ||
| JPS52105464A (en) * | 1976-02-27 | 1977-09-03 | Hitachi Ltd | Collision preventing apparatus in use of ultrasonic wave |
| JPS5321056A (en) * | 1976-08-10 | 1978-02-27 | Shin Meiwa Ind Co Ltd | Method of controlling position controller |
| JPS5689492A (en) * | 1979-12-17 | 1981-07-20 | Fujitsu Ltd | Method of positioning joint mechanism |
| JPS57173496A (en) * | 1981-04-20 | 1982-10-25 | Hitachi Ltd | Three-dimensional position detecting method for automatic machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015171735A (en) * | 2014-03-11 | 2015-10-01 | 株式会社ａｍｕｓｅ ｏｎｅｓｅｌｆ | Flexible arm device, and inspection diagnosing system |
| JP2017223087A (en) * | 2016-06-17 | 2017-12-21 | 東日本高速道路株式会社 | Imaging device and imaging system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0512110B2 (en) | 1993-02-17 |
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