Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot

Patent metadata

Field	Value
Publication number	US-9329587-B2
Application number	US-201414475807-A
Country	US
Kind code	B2
Filing date	Sep 3, 2014
Priority date	Sep 6, 2013
Publication date	May 3, 2016
Grant date	May 3, 2016

Abstract

A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.

First claim

What is claimed is:

1. A control apparatus for controlling a master slave robot to perform an assembly task while a state of the assembly task imaged by an imaging device is displayed on a display unit, the master slave robot including a slave arm and a master arm, the control apparatus comprising:
a slave arm control apparatus that controls operation of the slave arm so as to perform the assembly task to a rigid target object; and
a master arm control apparatus that controls operation of the master arm that remotely operates the slave arm when the master slave robot is used,
wherein the slave arm control apparatus includes a force information acquiring unit that acquires force information on force externally applied to the slave arm,
wherein the master arm control apparatus includes:
a displayed information acquiring unit that acquires magnification percentage information on a picture displayed by the display unit displaying the state of the assembly task;
a force information correcting unit that generates corrected force information such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the magnification percentage information acquired from the displayed information acquiring unit is larger;
a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit;
a size information calculation unit that (i) calculates length information or area information on the rigid target object displayed in the picture displayed by the display unit from imaged picture information acquired from the displayed information acquiring unit and (ii) outputs the calculated length information or the calculated area information on the rigid target object as size information on the rigid target object displayed in the picture displayed by the display unit;
a magnification percentage information calculation unit that (i) calculates magnification percentage information from the size information received from the size information calculation unit and actual size information on the rigid target object and (ii) transmits the calculated magnification percentage information to the force information correcting unit; and
a target object information storage unit that (i) stores the actual size information on the rigid target object and (ii) transmits the actual size information on the rigid target object stored therein to the magnification percentage information calculation unit,

wherein the magnification percentage information calculation unit (i) divides the size information (Sd) acquired from the size information calculation unit by the actual size information (Sr) on the rigid target object that is acquired from the target object information storage unit and (ii) transmits a division result (Sd/Sr) to the force information correcting unit as the magnification percentage information, and
wherein the force information correcting unit multiplies the magnification percentage information acquired from the size information calculation unit and a correction coefficient to generate the corrected force information.

2. The control apparatus for the master slave robot according to claim 1 ,
wherein the size information calculation unit (i) calculates the length information on the rigid target object displayed in the picture displayed by the display unit and (ii) outputs the length information on the rigid target object as the size information on the rigid target object displayed in the picture displayed by the display unit.

3. The control apparatus for the master slave robot according to claim 1 ,
wherein the size information calculation unit (i) calculates the area information on the rigid target object displayed in the picture displayed by the display unit and (ii) outputs the area information on the rigid target object as the size information on the rigid target object displayed in the picture displayed by the display unit.

4. A control apparatus for controlling a master slave robot to perform an assembly task while a state of the assembly task imaged by an imaging device is displayed on a display unit, the master slave robot including a slave arm and a master arm, the control apparatus comprising:
a slave arm control apparatus that controls operation of the slave arm so as to perform the assembly task to a rigid target object; and
a master arm control apparatus that controls operation of the master arm that remotely operates the slave arm when the master slave robot is used,
wherein the slave arm control apparatus includes a force information acquiring unit that acquires force information on force externally applied to the slave arm,
wherein the master arm control apparatus includes:
a displayed information acquiring unit that acquires magnification percentage information on a picture displayed by the display unit displaying the state of the assembly task;
a force information correcting unit that generates corrected force information such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the magnification percentage information acquired from the displayed information acquiring unit is larger; and
a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit, and

wherein the force information correcting unit corrects, when updating the force information in a predetermined period for correction of the force information, a period for updating the force information by extending the predetermined period.

5. A control apparatus for controlling a master slave robot to perform an assembly task while a state of the assembly task imaged by an imaging device is displayed on a display unit, the master slave robot including a slave arm and a master arm, the control apparatus comprising:
a slave arm control apparatus that controls operation of the slave arm so as to perform the assembly task to a rigid target object; and
a master arm control apparatus that controls operation of the master arm that remotely operates the slave arm when the master slave robot is used,
wherein the slave arm control apparatus includes a force information acquiring unit that acquires force information on force externally applied to the slave arm,
wherein the master arm control apparatus includes:
a displayed information acquiring unit that acquires magnification percentage information on a picture displayed by the display unit displaying the state of the assembly task;
a force information correcting unit that generates corrected force information such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the magnification percentage information acquired from the displayed information acquiring unit is larger;
a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit;
a view angle information acquiring unit that acquires view angle information on a person watching the display unit displaying the state of the assembly task; and
a selector that selects one of the magnification percentage information on the picture acquired by the displayed information acquiring unit and the view angle information acquired by the view angle information acquiring unit, and

wherein the force information correcting unit generates corrected force information in accordance with the information selected by the selector such that the force information acquired from the force information acquiring unit is corrected to be increased accordingly as the selected information is larger.

6. Th

Assignees

• Panasonic Corp
• Panasonic Ip Man Co Ltd

Inventors

• Fudaba Yudai
• Tsusaka Yuko

Classifications

• Y10S901/08

  Robot · CPC title

• B25J9/1689

  Teleoperation · CPC title

• Y10S901/47

  Optical · CPC title

• B25J3/04 Primary

  involving servo mechanisms (servo-actuated heads B25J15/02) · CPC title

• G05B15/02 Primary

  electric · CPC title