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-9415516-B2
Application number	US-201414307683-A
Country	US
Kind code	B2
Filing date	Jun 18, 2014
Priority date	Jun 24, 2013
Publication date	Aug 16, 2016
Grant date	Aug 16, 2016

Abstract

A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.

First claim

What is claimed is:

1. A control apparatus for a master slave robot that comprises a slave arm that performs a task to an object and a master arm configured to be manipulated such that the slave arm can be remotely manipulated, the task being performed using the master slave robot while a state of the task imaged by an imaging device is displayed on a screen of a display unit,
the control apparatus comprising:
a force information acquiring unit that acquires information on force externally applied to the slave arm;
a display information acquiring unit that acquires magnification percentage information at the display unit that displays the task, and, based on on-screen information, adjusts a magnification percentage of the imaged state of the task;
a force information correcting unit that corrects the force information acquired from the force information acquiring unit according to the magnification percentage information acquired from the display information acquiring unit, to generate corrected force information; and
a force information presentation unit that presents, to the master arm, the corrected force information generated by the force information correcting unit, wherein
a first force smaller than the force externally applied to the slave arm is presented as the generated corrected force information when the magnification percentage is adjusted to an enlarged magnification percentage.

2. The control apparatus for the master slave robot according to claim 1 , wherein the display information acquiring unit functions as a deformation information calculation unit that calculates, as the magnification percentage information, deformation information on the object deformed by the task of the slave arm on the display unit, the on-screen information including the deformation information.

3. The control apparatus for the master slave robot according to claim 2 , wherein the display information acquiring unit calculates and uses a length of a deformed range of the object, as the deformation information on the object deformed by the task of the slave arm on the display unit.

4. The control apparatus for the master slave robot according to claim 2 , wherein the display information acquiring unit calculates and uses an area of a deformed range of the object, as the deformation information on the object deformed by the task of the slave arm on the display unit.

5. The control apparatus for the master slave robot according to claim 2 , further comprising:
a master motion information acquiring unit that acquires master motion information including at least one of a position, an orientation, a velocity, and an angular velocity of the master arm, wherein
the force information correcting unit:
calculates a shift amount (d b ) of the master arm from the master motion information;
acquires a deformation amount (d d ) of the object calculated by the deformation information calculation unit;
divides the shift amount (d b ) by the deformation amount (d d ); and
multiplies a division result (d b /d d ) by a correction coefficient and the force information to generate the corrected force information.

6. The control apparatus for the master slave robot according to claim 3 , further comprising:
a master motion information acquiring unit that acquires master motion information including at least one of a position, an orientation, a velocity, and an angular velocity of the master arm, wherein
the force information correcting unit:
calculates a shift amount (d b ) of the master arm from the master motion information;
acquires a deformation amount (d d ) of the object calculated by the deformation information calculation unit;
divides the shift amount (d b ) by the deformation amount (d d ); and
multiplies a division result (d b /d d ) by a correction coefficient and the force information to generate the corrected force information.

7. The control apparatus for the master slave robot according to claim 4 , further comprising:
a master motion information acquiring unit that acquires master motion information including at least one of a position, an orientation, a velocity, and an angular velocity of the master arm, wherein
the force information correcting unit:
calculates a shift amount (d b ) of the master arm from the master motion information;
acquires a deformation amount (d d ) of the object calculated by the deformation information calculation unit;
divides the shift amount (d b ) by the deformation amount (d d ); and
multiplies a division result (d b /d d ) by a correction coefficient and the force information to generate the corrected force information.

8. The control apparatus for the master slave robot according to claim 1 , wherein the force information correcting unit determines a magnitude as a reference of each of the magnification percentage information and the force information upon correcting the force information.

9. The control apparatus for the master slave robot according to claim 1 , wherein the force information correcting unit changes a correction amount in accordance with a softness of the object.

10. The control apparatus for the master slave robot according to claim 1 , wherein, when correcting the force information acquired from the force information acquiring unit, the force information correcting unit corrects a magnitude of the force information, or shortens an update period of the force information to generate the corrected force information.

11. A robot comprising:
the control apparatus for a master slave robot according to claim 1 ; and the master slave robot.

12. A method of controlling a master slave robot that comprises a slave arm that performs a task to an object and manipulating a master arm such that the slave arm can be remotely manipulated, performing the task using the master slave robot while a state of the task imaged by an imaging device is displayed on a screen of a display unit,
the method comprising:
acquiring, at a force information acquiring unit, information on force externally applied to the slave arm;
acquiring, at a display information acquiring unit, magnification percentage information at the display unit that displays the task, and, based on on-screen information, adjusting a magnification percentage of the imaged state of the task;
correcting the force information acquired from the force information acquiring unit according to the magnification percentage information acquired from the display information acquiring unit, to generate corrected force information at a force information correcting unit; and
presenting, at a force information presentation unit to the master arm, the corrected force information generated by the force information correcting unit, wherein
a first force smaller than the force externally applied to the slave arm is presented as the generated corrected force information when the magnification percentage is adjusted to an enlarged magnification percentage.

13. A non-transitory computer-readable recording medium including a control program for a master slave robot that comprises a slave arm that performs a task to an object and manipulating a master arm such that the slave arm can be remotely manipulated, performing the task using the master slave robot while a state of the task imaged by an imaging device is displayed on a screen of a display unit,
the control program causing a computer to execute steps of:
acquiring, at a force information acquiring unit, information on force externally applied to the slave arm;
acquiring, at a display information acquiring unit, magnification percentage information at the display unit that displays the task, and, based on on-sc

Assignees

• Panasonic Corp
• Panasonic Ip Man Co Ltd

Inventors

• Fudaba Yudai
• Tsusaka Yuko

Classifications

• G05B2219/40139

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• B25J9/1689 Primary

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• G05B2219/40405

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• Y10S901/02

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