Apparatus for effecting coordinated position/force control for a manipulator

Claim 1

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; hand force variable-gain computing means for providing arithmetic processing for changing a gain in response to a degree of coordination between a position and a force with respect to an output of said force detecting means; output-torque converting means for converting an output of said hand force variable-gain computing means to at least one of the force and moment in each joint coordinate system of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; command force variable gain computing means for providing arithmetic processing for changing the gain in response to a degree of coordination between the position and the force with respect to a force command signal sent from said force commanding means; command-torque converting means for converting an output of said command force variable gain computing means to at least one of the force and moment in each joint coordinate system of said manipulator; position detecting for detecting the position of each joint of said manipulator; position commanding means for sending a command position of each joint of said manipulator; positional deviation detecting means for detecting a positional deviation which is a difference between the position detected by the position detecting means and the command position sent by said position commanding means; positional deviation-torque converting means for converting a virtual spring constant set by the tool coordinate system in response to a degree of coordination between the position and the force to a virtual spring constant in each joint coordinate system of said manipulator, and for converting the positional deviation to at least one of the force and moment corresponding to the positional deviation on the basis of the converted virtual spring constant and the positional deviation detected by said positional deviation detecting means; and feedback compensation computing means for computing a command value for at least one of the force and moment for said manipulator driving means on the basis of at least one of the force and moment converted by said command-torque converting means, at least one of the force and moment converted by said positional deviation-torque converting means, and at least one of the force and moment converted by said output-torque converting means.

Claim 2

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; hand force variable-gain computing means for providing arithmetic processing for changing a gain in response to a degree of coordination between a position and a force with respect to an output of said force detecting means; output-torque converting means for converting an output of said hand force variable-gain computing means to at least one of the force and moment in each joint coordinate system of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; command force variable gain computing means for providing arithmetic processing for changing the gain in response to a degree of coordination between the position and the force with respect to a force command signal sent from said force commanding means; command-torque converting means for converting an output of said command force variable gain computing means to at least one of the force and moment in each joint coordinate system of said manipulator; position detecting for detecting the position of each joint of said manipulator; position commanding means for sending a command position of each joint of said manipulator; positional deviation detecting means for detecting a positional deviation which is a difference between the position detected by the position detecting means and the command position sent by said position commanding means; positional deviation-torque converting means for converting a virtual spring constant set by the tool coordinate system in response to a degree of coordination between the position and the force to a virtual spring constant in each joint coordinate system of said manipulator, and for converting the positional deviation to at least one of the force and moment corresponding to the positional deviation on the basis of the converted virtual spring constant and the positional deviation detected by said positional deviation detecting means; and feedback compensation computing means for computing a command value for at least one of the force and moment for said manipulator driving means on the basis of at least one of the force and moment converted by said command-torque converting means, at least one of the force and moment converted by said positional deviation-torque converting means, and at least one of the force and moment converted by said output-torque converting means.

Claim 20

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; position detecting means for detecting a present position Po of each joint of said manipulator; position commanding means for sending a command position Pi of each joint of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; and controlling means adapted to compute a value Fo in which a signal exceeding a necessary frequency bandwidth is cut off from an output of said force detecting means and which is multiplied by a gain inversely proportional to a virtual spring constant KH set by the tool coordinate system as well as a value Fi in which a signal exceeding the frequency bandwidth is cut off from an output of said force commanding means and which is multiplied by the gain, said controlling means being also adapted to compute a torque command value τc for said manipulator driving means in accordance with the following formula and effect feedback control of said manipulator driving means in such a manner that an output torque τo obtained on the basis of the output of said detecting means coincides with the torque command value τc: τc=τi+Kθ·(θi-θo) where, when a Jacobian matrix is assumed to be J and a Jacobean transposed matrix J T , τi is a torque command value defined by J T Fi, Kθ is a virtual spring constant at each joint coordinate system defined by J T KHJ, (θi-θo) is a difference between a present angle θo and a command angle θi of an axis of each joint of said manipulator satisfying J·(θi-θo)=Pi-Po, and τo is given by J T Fo.

Claim 21

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; position detecting means for detecting a present position Po of each joint of said manipulator; position commanding means for sending a command position Pi of each joint of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; and controlling means adapted to compute a value Fo in which a signal exceeding a necessary frequency bandwidth is cut off from an output of said force detecting means and which is multiplied by a gain inversely proportional to a virtual spring constant KH set by the tool coordinate system as well as a value Fi in which a signal exceeding the frequency bandwidth is cut off from an output of said force commanding means and which is multiplied by the gain, said controlling means being also adapted to compute a torque command value τc for said manipulator driving means in accordance with the following formula and effect feedback control of said manipulator driving means in such a manner that an output torque τo obtained on the basis of the output of said detecting means coincides with the torque command value τc: τc=τi+Kθ·(θi-θo) where, when a Jacobian matrix is assumed to be J and a Jacobean transposed matrix J T , τi is a torque command value defined by J T Fi, Kθ is a virtual spring constant at each joint coordinate system defined by J T KHJ, (θi-θo) is a difference between a present angle θo and a command angle θi of an axis of each joint of said manipulator satisfying J·(θi-θo)=Pi-Po, and τo is given by J T Fo.

Claim 23

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; position detecting means for detecting a present position of each joint of said manipulator; position commanding means for sending a command position of each joint of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; targeted torque computing means for computing a torque command value of each joint by multiplying an output of said force commanding means by a signal whose value becomes small in correspondence with the magnitude of a virtual spring constant set by the tool coordinate system; output torque computing means for computing an output torque of each joint by multiplying an output of said force detecting means by the signal whose value becomes small in correspondence with the magnitude of the virtual spring constant; position command computing means for computing a position command torque of each joint by multiplying a positional deviation obtained from outputs of said position commanding means and said position detecting means by a signal corresponding to the magnitude of the virtual spring constant; and feedback compensation computing means for effecting feedback control of said manipulator driving means in such a manner that a sum of outputs of said targeted torque computing means and said position command computing means will coincide with an output of said output torque computing means.

Claim 24

An apparatus for effecting coordinated position/force control for a manipulator, comprising: manipulator driving means for driving each joint of said manipulator; force detecting means for detecting in a tool coordinate system at least one of a force and moment which said manipulator receives from an external environment; position detecting means for detecting a present position of each joint of said manipulator; position commanding means for sending a command position of each joint of said manipulator; force commanding means for sending a force command signal in which at least one of the force and moment is expressed by the tool coordinate system; targeted torque computing means for computing a torque command value of each joint by multiplying an output of said force commanding means by a signal whose value becomes small in correspondence with the magnitude of a virtual spring constant set by the tool coordinate system; output torque computing means for computing an output torque of each joint by multiplying an output of said force detecting means by the signal whose value becomes small in correspondence with the magnitude of the virtual spring constant; position command computing means for computing a position command torque of each joint by multiplying a positional deviation obtained from outputs of said position commanding means and said position detecting means by a signal corresponding to the magnitude of the virtual spring constant; and feedback compensation computing means for effecting feedback control of said manipulator driving means in such a manner that a sum of outputs of said targeted torque computing means and said position command computing means will coincide with an output of said output torque computing means.