Master-slave robot system

Abstract

A master-slave robot system of the present application includes a master robot whose posture is changed by an external force applied by a user, a slave robot whose posture is controlled in a manner to coincide with the posture of the master robot, and a control unit that controls the master robot and the slave robot, the control unit causing the posture of the master robot to coincide with the posture of the slave robot and limiting the acceleration of the motion of the master robot to be below a limit acceleration when causing the posture of the master robot to coincide with the posture of the slave robot.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a master robot whose posture is changed by an external force applied by a user, and a slave robot whose posture is controlled in a manner consistent with the posture of the master robot, and a master-slave robot system. BACKGROUND

[0002] In the past, there has been a teaching system of a robot that switches between a direct control mode in which a posture of a target robot is controlled so as to make the posture of the target robot consistent with a posture of an operation robot operated by a worker, and a detail control mode in which, in a case where a magnitude of an external force on the operation robot detected by a detection unit exceeds a threshold value set in advance, the posture of the target robot is controlled in a direction of the detected external force by a set motion unit (PL1: JP 2019-55458 A). In the teaching system described in PL1, in the detail control mode, in a case where the posture of the operation robot deviates from the posture of the target robot, the posture of the operation robot is made consistent with the posture of the target robot. SUMMARY

[0003] Technical problem to be solved by the invention

[0004] However, in the teaching system described in PL1, when making the posture of the operation robot (also referred to as a master robot) consistent with the posture of the target robot (also referred to as a slave robot), the posture of the operation robot changes sharply, and the worker (also referred to as a user) can feel uncomfortable.

[0005] The present disclosure is proposed in order to solve such a technical problem, and the main object thereof is to suppress a user from feeling uncomfortable when making a posture of a master robot consistent with a posture of a slave robot in a master-slave robot system.

[0006] Technical solution for solving the technical problem

[0007] A master-slave robot system according to one embodiment of the present disclosure includes:

[0008] a master robot whose posture is changed by an external force applied by a user, a slave robot whose posture is controlled in a manner consistent with the posture of the master robot, and a control unit that controls the master robot and the slave robot, wherein

[0009] the control unit makes the posture of the master robot consistent with the posture of the slave robot, and when making the posture of the master robot consistent with the posture of the slave robot, limits an acceleration of a motion of the master robot to be below a limit acceleration. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1This is a schematic diagram of a master-slave robot system.

[0011] Figure 2 This is a diagram showing the angles of each axis when a master-slave robot operation is performed.

[0012] Figure 3 It is a diagram showing the angles of each axis after a micro-motion.

[0013] Figure 4 It is a diagram showing the angles of each axis after the deviation elimination operation.

[0014] Figure 5 This is a flowchart illustrating the steps of the main control.

[0015] Figure 6 This is a flowchart illustrating the steps from control.

[0016] Figure 7 This is a flowchart illustrating the steps of the micro-motion mode.

[0017] Figure 8 This is a flowchart illustrating the steps of the deviation elimination action.

[0018] Figure 9 This is a flowchart illustrating the steps involved in a change example of the main control. Detailed Implementation

[0019] Hereinafter, with reference to the accompanying drawings, one embodiment of a master-slave robot system comprising a master robot, a slave robot, and a control unit will be described.

[0020] like Figure 1 As shown, the master-slave robot system 10 includes a master robot 20 and a slave robot 30.

[0021] The main robot 20 is, for example, a 6-axis vertical articulated robot, comprising a base 21 and arms 22. Adjacent links of the arms 22 are rotatably connected together via joints. Each joint (i.e., each axis) is driven by a motor corresponding to each joint.

[0022] A robotic arm 23 is mounted at the top of the arm 22. The robotic arm 23 has, for example, a pair of claws, which performs opening and closing actions by widening and narrowing the gap between the claws.

[0023] In the inside of the base 21, a storage section 25 that stores a result of a fine adjustment operation described later (for example, a history) and a control section 26 that controls the operation of the master robot 20 and the robot hand 23 are provided. The control section 26 is provided as a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a drive circuit, an input / output interface, and the like.

[0024] In each joint of the master robot 20, an encoder (omitted from the drawing) that detects the rotation angle of each joint is provided. That is, the encoder detects the position and direction of the control point of the arm 22 (hereinafter, referred to as "the posture of the arm 22"). The control point can be selected from the center of the top end of the arm 22 and the middle of a pair of jaws (TCP: Tool Center Position).

[0025] In each joint of the master robot 20, a brake (omitted from the drawing) is provided. The brake brakes each joint, and suppresses the angle of each joint from being changed.

[0026] The control section 26 controls the posture of the arm 22 in accordance with the external force acting on the arm 22. In detail, the control section 26 performs flexible control that generates a torque that compensates only for the gravity and friction acting on the arm 22 by the motor of each joint and causes the arm 22 to act in accordance with the external force. Furthermore, the control section 26 maintains the posture of the arm 22 when the external force acting on the arm 22 disappears. That is, the master robot 20 can change the posture of the arm 22 by the external force applied by the user, and maintain the posture. In the present embodiment, the user can directly hold and move the arm 22 in the direct teaching mode, and can maintain the posture of the arm 22. The control section 26 transmits the detection result of the encoder of each joint of the master robot 20 to the control section 36 of the slave robot 30.

[0027] The slave robot 30 is connected to the master robot 20 through a cable 29. The slave robot 30 is, for example, the same type (for example, a vertical multi-joint type of 6 axes) as the master robot 20 and is larger than the master robot 20. The slave robot 30 is provided inside the safety fence G. The slave robot 30 has the same structure as the master robot 20 except that it is larger than the master robot 20 and has a slightly different shape from the master robot 20. The slave robot 30 has a base 31 and an arm 32. A robot hand (omitted from the drawing) is attached to the top end of the arm 32. Each joint of the slave robot 30 corresponds to each joint of the master robot 20.

[0028] Inside the base 31 is a control unit 36 ​​that controls the movements of the robot 30 and the robotic arm. The control unit 36 ​​is a computer equipped with a CPU, ROM, RAM, drive circuits, and input / output interfaces. The control units 26 and 36 can communicate with each other via cable 29, sending and receiving information.

[0029] Encoders (not shown) are installed in each joint (i.e., each axis) of the robot 30 to detect the rotation angle of each joint. That is, the encoders detect the position and orientation of the control point of the arm 32 (hereinafter referred to as "the posture of the arm 32"). The control point can be selected from the center of the tip of the arm 32 and, for example, the middle of a pair of claws (TCP).

[0030] Brakes (not shown) are installed in each joint of robot 30. The brakes brake each joint and prevent the angle of each joint from being changed.

[0031] The control unit 36 ​​controls the motors of each joint of the slave robot 30 so that the angles of each joint of the slave robot 30 are consistent with the angles of the corresponding joints of the master robot 20. That is, by the user applying external force to the master robot 20 to change the posture of the master robot 20, the control unit 36 ​​controls the posture of the slave robot 30 so that the posture of the slave robot 30 is consistent with the changed posture of the master robot 20 (hereinafter referred to as "master-slave robot operation").

[0032] In detail, the control unit 36 ​​performs feedback control on the motors of each joint of the slave robot 30 based on the detection results of the encoders of each joint of the master robot 20 and the encoders of each joint of the slave robot 30. That is, each joint of the slave robot 30 mimics each joint of the master robot 20. In other words, the slave robot 30 follows the movements of the master robot 20. The control unit 36 ​​sends the detection results of the encoders of each joint of the slave robot 30 to the control unit 26 of the master robot 20. Furthermore, the control unit 26 of the master robot 20 and the control unit 36 ​​of the slave robot 30 constitute the control unit of the master-slave robot system 10.

[0033] like Figure 2 As shown, by performing master-slave robot operations, the angles θ1 to θ6 of each axis of the slave robot 30 are made consistent with the angles θ1 to θ6 of each axis of the master robot 20.

[0034] The main robot 20 is connected to, for example, Figure 3The operator 40 is a teaching box, a tablet terminal, a smartphone, a notebook PC (Personal Computer), a desktop PC, or the like. Furthermore, the operator 40 preferably has a dead man switch, and in a case where the user forcibly presses the dead man switch or the user releases the hand from the dead man switch, the slave robot 30 is stopped.

[0035] The operator 40 enables the user to operate to move the slave robot 30 in a fine motion of the arm 32 in a minimum unit or a minute unit. The user operates the operator 40, and is able to set a unit in which the posture of the arm 32 is changed to, for example, 0.1 to 1.0 (mm). The user is able to perform a fine motion of changing the posture of the arm 32 in the set unit by operating the operator 40 with the control sections 26, 36 (hereinafter, referred to as "fine adjustment operation"). At this time, the control section 26 stores the result (for example, a history) of the fine adjustment operation in the storage section 25. Furthermore, the operator 40, the storage section 25, the control section 26, and the control section 36 are collectively referred to as a fine adjustment section. That is, the fine adjustment section controls the posture of the slave robot 30 according to the fine adjustment operation of the user in a state where the control of making the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed, and stores the result (for example, a history) of the fine adjustment operation.

[0036] The control section 26 does not change the posture of the master robot 20 by the external force applied by the user in the fine adjustment operation performed by the user using the operator 40. Specifically, the control section 26 makes the brakes of the respective joints of the master robot 20 act during the period in which the user performs the fine adjustment operation using the operator 40, and the angle of each joint cannot be changed. Furthermore, the control section 26 can also make the angle of each joint not be changed by performing the control of maintaining the angle of each joint of the master robot 20 during the period in which the user performs the fine adjustment operation using the operator 40.

[0037] When the angles of the respective axes J1 to J6 of the slave robot 30 are θ1 to θ6, the coordinates (X, Y, Z, Rx, Ry, Rz) of the control point are (X1, Y1, Z1, Rx1, Ry1, Rz1). X, Y, and Z are the coordinates of the X-axis, the Y-axis, and the Z-axis, respectively. Rx, Ry, and Rz are the rotation angles around the X-axis, the Y-axis, and the Z-axis, respectively.

[0038] Here, it is assumed that the coordinates (X, Y, Z, Rx, Ry, Rz) of the control point of the slave robot 30 are changed by (a1, a2, a3, a4, a5, a6) by the fine adjustment operation of the user. At this time, it is assumed that the angles of the respective axes J1 to J6 of the master robot 20 cannot be changed. The fine adjustment operation can be one operation or a total of a plurality of operations.

[0039] As a result, the coordinates of the control points from robot 30 become coordinates (X1+a1, Y1+a2, Z1+a3, Rx1+a4, Ry1+a5, Rz1+a6). When the coordinates of the control points from robot 30 are (X1+a1, Y1+a2, Z1+a3, Rx1+a4, Ry1+a5, Rz1+a6), the angles of each axis J1 to J6 of robot 30 are θ1+b1, θ2+b2, θ3+b3, θ4+b4, θ5+b5, and θ6+b6, respectively. Therefore, it is possible for a deviation to occur between the angles of each axis J1 to J6 of the main robot 20 and the angles of each axis J1 to J6 of the secondary robot 30.

[0040] Therefore, as Figure 4 As shown, the control unit 26 eliminates the deviation between the angles (i.e., the posture of the main robot 20) of each axis J1 to J6 of the main robot 20 and the angles (i.e., the posture of the slave robot 30) of each axis J1 to J6 of the slave robot 30. Specifically, the control unit 26 causes the main robot 20 to perform a deviation elimination action to eliminate the posture deviation. As a result, the angles of each axis J1 to J6 of the main robot 20 are aligned with the angles of each axis J1 to J6 of the slave robot 30. However, if the control is simply executed to make the angles of each axis J1 to J6 of the main robot 20 aligned with the angles of each axis J1 to J6 of the slave robot 30, the angles of each axis J1 to J6 of the main robot 20 change drastically to angles different from the user's intention, which may cause discomfort to the user.

[0041] In response, the control unit 26 notifies the user of its intention when the deviation between the posture of the master robot 20 and the posture of the slave robot 30 exceeds a predetermined deviation. The operator 40 can instruct the control unit 26 to make the posture of the master robot 20 consistent with that of the slave robot 30. Furthermore, when the user performs a deviation elimination operation (an instruction to make the posture of the master robot 20 consistent with that of the slave robot 30), the control unit 26 executes the deviation elimination action. Further, when eliminating the deviation between the posture of the master robot 20 and the slave robot 30, the control unit 26 limits the acceleration of the robot 20's movement to a limit acceleration Au or less.

[0042] Figure 5 This is a flowchart illustrating the steps of main control executed by the control unit 26 of the main robot 20.

[0043] First, the control unit 26 sets the mode of the main robot 20 to direct teaching mode (S10). In direct teaching mode, the main robot 20 is moved to the target pose by the user's operation (S11). Here, the target pose refers to the pose of the main robot 20 in the state of moving from the control point of the robot 30 to the teaching point, or in the state of moving from the control point of the robot 30 to the vicinity of the teaching point.

[0044] At this time, the control unit 26 sends information (such as the rotation angle of each motor) that can determine the posture of the main robot 20 changed by the user to the control unit 36 ​​as teaching information. At this time, the teaching information sent also includes information indicating that teaching in direct teaching mode is being performed.

[0045] On the other hand, when the main robot 20 begins teaching, the control unit 36 ​​of robot 30, such as Figure 6 As shown, it is determined whether teaching information has been received from the control unit 26 (S20). If the control unit 36 ​​determines that no teaching information has been received (S20: No), it determines whether the teaching is complete (S22). In this determination, if it determines that the teaching is not complete (S22: No), the process returns to step S20. On the other hand, if it determines that the teaching is complete (S22: Yes), the processing from the control unit ends (end).

[0046] When the control unit 36 ​​determines that it has received teaching information from the control unit 26 (S20: Yes), it changes the posture of the slave robot 30 according to the teaching information (S21). At this time, when the master robot 20 is operating in direct teaching mode, teaching information is received each time the user changes the posture of the master robot 20. The control unit 36 ​​changes the posture of the slave robot 30 so that the posture of the slave robot 30 follows the changes in the posture of the master robot 20.

[0047] return Figure 5 When the main robot 20 moves to the target posture, the control unit 26 determines whether a switch to a micro-motion mode has been performed to determine if the current posture of the main robot 20 is sufficient and whether fine adjustments, i.e., detailed positioning, are required (S12). Then, if it is determined that fine adjustments are not required, i.e., no switch to micro-motion mode is performed (S12: No), the control unit 26 sets the current posture of the main robot 20 as a teaching point (S14). Hereinafter, for convenience, the current posture of the main robot 20 will be referred to as the current posture. Specifically, the control unit 26 sets the position and direction of the control point in the current posture of the main robot 20 as a teaching point. At this time, as teaching information, the control unit 26 sends information indicating the current posture of the main robot 20 and the setting of the current posture as a teaching point to the control unit 36.

[0048] On the other hand, in a case where the user has input a switching operation to the micro-motion mode by the manipulator 40, that is, in a case where fine adjustment is required (S12: YES), the control section 26 sets the mode of the master robot 20 to the micro-motion mode (S13).

[0049] Figure 7 is a flowchart showing steps of processing in the micro-motion mode. This series of processing is executed by the control section 26.

[0050] The control section 26 causes the brakes of the respective axes J1 to J6 of the master robot 20 to act (S130). The control section 26 judges whether or not a fine adjustment operation has been input (S131). In this judgment, in a case where it is judged that no fine adjustment operation has been input (S131: NO), the control section 26 judges whether or not the fine adjustment operation is ended (S134). Specifically, in a case where the user has performed an operation of ending the micro-motion mode in the manipulator 40, it is judged that the fine adjustment operation is ended. In a case where it is judged that the fine adjustment operation is not ended (S134: NO), the processing returns to S131.

[0051] On the other hand, in the judgment of S131, in a case where it is judged that a fine adjustment operation has been input (S131: YES), the control section 26 executes a micro-motion action (S132). Specifically, the control section 26 changes the posture of the arm 32 in a set unit by means of the control section 36 in accordance with the input fine adjustment operation. In the fine adjustment operation, the user changes the posture of the robot 30 by the set unit every time the button of the manipulator 40 is pressed. A long press of the button is treated as one press of the button.

[0052] Next, the control section 26 stores the input fine adjustment operation in the storage section 25 (S133). Specifically, the control section 26 stores the fine adjustment operation (micro-motion action performed) input after the mode is switched to the micro-motion mode in the storage section 25 in chronological order.

[0053] In the judgment of S134, in a case where it is judged that the fine adjustment operation is ended (S134: YES), the control section 26 releases the brakes of the respective axes J1 to J6 of the master robot 20 (S135). Thereafter, the processing proceeds to Figure 5 the subsequent processing (return) of S13 of

[0054] Returning to Figure 5After the process of S14, the control section 26 determines whether the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 exceeds a prescribed amount of deviation (S15). Specifically, the control section 26 determines that the amount of deviation exceeds the prescribed amount of deviation in a case where the slave robot 30 moves by the fine movement operation by more than 1.0 (cm). Further, it can be considered that the posture of the master robot 20 coincides with the posture of the slave robot 30 at the time of the master-slave robot operation. In addition, it can be determined that the amount of deviation exceeds the prescribed amount of deviation depending on the difference between the angle of each axis of the master robot 20 and the angle of the corresponding each axis of the slave robot 30.

[0055] In a case where it is determined in S15 that the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 exceeds the prescribed amount of deviation (S15: Yes), the control section 26 notifies the user that the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 is large. For example, the control section 26 can display that the amount of deviation is large in the display section of the manipulator 40, or can introduce that the amount of deviation is large in the speaker of the manipulator 40 by voice. On the other hand, in a case where it is determined in S15 that the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 does not exceed the prescribed amount of deviation (S15: No), the process proceeds to S17. That is, the control section 26 continues the master-slave robot operation even if there is a deviation of the posture of the master robot 20 from the posture of the slave robot 30 in a case where it is determined that the amount of deviation does not exceed the prescribed amount of deviation.

[0056] The control section 26 determines whether the user has performed a deviation cancel operation by the manipulator 40 (S17). In a case where it is determined that the user has performed the deviation cancel operation by the manipulator 40 (S17: Yes), the control section 26 performs a deviation cancel operation (S18).

[0057] Figure 8 Fig. 18 is a flowchart showing steps of the deviation cancel operation. This series of processes is performed by the control section 26.

[0058] The control section 26 reads the history of the fine adjustment operation from the storage section 25 (S180). The control section 26 causes the master robot 20 to act in the order of the fine adjustment operation (S181). Specifically, the control section 26 performs control to make the posture of the master robot 20 coincide with the posture of the slave robot 30 in the order of the fine adjustment operation in the history of the fine adjustment operation stored (hereinafter, referred to as "operation order control"). That is, the control section 26 causes the master robot 20 to perform an action corresponding to the fine motion action in the same order as the order in which the fine motion action is performed in the slave robot 30. At this time, the control section 26 limits the acceleration of the master robot 20, specifically, the acceleration when the control point is moved, to be equal to or lower than the limit acceleration Au. Further, the control section 26 limits the speed of the master robot 20, specifically, the speed when the control point is moved, to be equal to or lower than the limit speed Vu.

[0059] The control section 26 determines whether or not the user is applying an external force to the master robot 20 in the execution of the operation order control (S182). In a case where it is determined that the user is applying an external force to the master robot 20 in the execution of the operation order control (S182: Yes), the control section 26 interrupts the operation order control (S184). Then, the control section 26 stores the fine adjustment operation corresponding to the action of the master robot 20 at the time of interruption in the operation order control (S185).

[0060] Next, the control section 26 is set to the direct teaching mode (S186). The control section 26 determines whether or not the user is applying an external force to the master robot 20 (S187). In a case where it is determined that the user is applying an external force to the master robot 20 (S187: Yes), the process returns to S186.

[0061] On the other hand, in the determination of S187, in a case where it is determined that the user is not applying an external force to the master robot 20 (S187: No), the process returns to S181. At this time, in the process of S181, the control section 26 causes the master robot 20 to act in order from the fine adjustment operation corresponding to the action of the master robot 20 at the time of interruption stored in the process of S185. That is, the control section 26, after the interruption of the operation order control, determines that the user is not applying an external force to the master robot 20, and restarts the operation order control from the time point of interruption.

[0062] Furthermore, in the processing of S182, if the control unit 26 determines that the user has not applied external force to the main robot 20 during the execution of the operation sequence control (S182: No), it determines whether the main robot 20's action has been completed, up to the last micro-adjustment operation in the history of micro-adjustment operations (S183). If it determines that the main robot 20's action has not been completed up to the last micro-adjustment operation (S183: No), the processing returns to S181. On the other hand, in the determination of S183, if it determines that the main robot 20's action has been completed up to the last micro-adjustment operation (S183: Yes), the processing returns to... Figure 5 The subsequent processing (return) of S18. In addition, the processing of S182 and S187 is equivalent to the processing of the decision unit.

[0063] exist Figure 5 In the S19 process, the control unit 26 determines whether all teaching has been completed (S19). For example, if the user performs an operation to end teaching via the operator 40, the control unit 26 determines that all teaching has been completed. If it is determined that all teaching has not been completed (S19: No), the process returns to S11. On the other hand, if it is determined that all teaching has been completed (S19: Yes), the main control process ends (END).

[0064] The embodiments described in detail above have the following advantages.

[0065] The master-slave robot system 10 includes: a master robot 20 whose posture is changed by an external force applied by a user; a slave robot 30 whose posture is controlled in a manner consistent with the posture of the master robot 20; and a control unit 26 that controls the master robot 20 and the slave robot 30, the control unit 26 making the posture of the master robot 20 consistent with the posture of the slave robot 30, and when making the posture of the master robot 20 consistent with the posture of the slave robot 30, limiting the acceleration of the master robot 20's movement to a limit acceleration Au or less.

[0066] According to the above structure, the master-slave robot system 10 includes: a master robot 20 whose posture is changed by an external force applied by a user; a slave robot 30 whose posture is controlled to match the posture of the master robot 20; and a control unit 26 that controls the master robot 20 and the slave robot 30. Therefore, by having a user apply an external force to the master robot 20 to change its posture, the posture of the master robot 20 is changed, and the posture of the slave robot 30 is controlled to match the changed posture of the master robot 20. In other words, the posture of the slave robot 30 can be changed by having a user change the posture of the master robot 20.

[0067] In this case, if only the posture of the slave robot 30 is finely adjusted in a state where the control to make the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed, a deviation occurs between the posture of the master robot 20 and the posture of the slave robot 30. In addition, in a case where the type or shape of the master robot 20 is different from the type or shape of the slave robot 30, it is possible that a deviation occurs between the posture of the master robot 20 and the posture of the slave robot 30 during the master-slave robot operation is performed. In this case, if the control to make the posture of the master robot 20 coincide with the posture of the slave robot 30 is performed, the posture of the master robot 20 can abruptly change. The user who operates the master robot 20 can feel uncomfortable with the abrupt change in the posture of the master robot 20.

[0068] In this case, the control section 26 makes the posture of the master robot 20 coincide with the posture of the slave robot 30, and limits the acceleration of the motion of the master robot 20 to be lower than or equal to the limit acceleration Au when making the posture of the master robot 20 coincide with the slave robot 30. Therefore, it is possible to suppress the motion speed of the master robot 20 from abruptly changing, and further, it is possible to suppress the posture of the master robot 20 from abruptly changing. Therefore, when making the posture of the master robot 20 coincide with the posture of the slave robot 30, it is possible to suppress the user from feeling uncomfortable even if the posture of the master robot 20 changes. For example, it is possible to make the posture of the master robot 20 coincide with the posture of the slave robot 30 without surprising the user.

[0069] The control section 26 further limits the motion speed of the master robot 20 to be lower than or equal to the limit speed Vu when making the posture of the master robot 20 coincide with the posture of the slave robot 30. According to this structure, in a state where the speed of the master robot 20 exceeds the limit speed Vu, it is possible to suppress the posture of the master robot 20 from changing, and it is possible to further suppress the user from feeling uncomfortable.

[0070] The master-slave robot system 10 further has a fine adjustment section that controls the posture of the slave robot 30 in accordance with a fine adjustment operation of a user in a state in which the control to make the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed, and stores a result of the fine adjustment operation, and the control section 26 makes the posture of the master robot 20 coincide with the posture of the slave robot 30 in accordance with the stored result of the fine adjustment operation. The fine adjustment section is able to perform the fine adjustment operation of the user to fine-adjust the posture of the slave robot 30 in the state in which the control to make the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed, and stores a history of the fine adjustment operation. Thus, the user is able to fine-adjust the posture of the slave robot 30 by performing the fine adjustment operation. At this time, since the posture of the slave robot 30 does not coincide with the posture of the master robot 20, a deviation occurs between the posture of the master robot 20 and the posture of the slave robot 30. Thus, the control section 26 makes the posture of the master robot 20 coincide with the posture of the slave robot 30 in accordance with the stored result of the fine adjustment operation. For example, the control section 26 performs the operation sequence control to make the posture of the master robot 20 coincide with the posture of the slave robot 30 in the order of the fine adjustment operation in the history stored by the storage section 25 when eliminating the deviation of the posture of the master robot 20 from the posture of the slave robot 30. Thereby, the posture of the master robot 20 is controlled in accordance with the fine adjustment operation of the user to the slave robot 30. Thus, when making the posture of the master robot 20 coincide with the posture of the slave robot 30, even if the posture of the master robot 20 changes, it is possible to suppress the user from feeling uncomfortable.

[0071] The control section 26 interrupts the deviation elimination control when it is determined that the user is applying an external force to the master robot 20 in the execution of the control to make the posture of the master robot 20 coincide with the posture of the slave robot 30 (also referred to as deviation elimination control). Thus, even if the deviation elimination (for example, the operation sequence control) is started, in the case where the user is applying an external force to the master robot 20, it is possible to interrupt the deviation elimination control. Here, the user applying an external force to the master robot 20 can mean that the user intends the operation of the master robot 20. Thus, in the case where the user is applying an external force to the master robot 20, it is possible to suppress the posture of the master robot 20 from becoming a posture different from the user's intention, and it is possible to suppress the user from feeling uncomfortable.

[0072] The control section 26 resumes the deviation elimination control from the point in time at which the interruption is made in the case where the user is not applying an external force to the master robot 20 after it is determined that the deviation elimination control is interrupted. Thus, in the case where the user is not applying an external force to the master robot 20 after the deviation elimination control is interrupted, it is possible to resume the deviation elimination control from the point in time at which the interruption is made. Thus, compared to the case where the deviation elimination control is newly started, it is possible to make the posture of the master robot 20 coincide with the posture of the slave robot 30 quickly.

[0073] The operator 40 receives a micro-adjustment operation by the user in a state where the control to make the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed. That is, the operator 40 and the control sections 26 and 36 can perform a micro-adjustment operation in which the user micro-adjusts the posture of the slave robot 30 in a state where the control to make the posture of the slave robot 30 coincide with the posture of the master robot 20 is not performed. Therefore, the user can micro-adjust the posture of the slave robot 30 by performing a micro-adjustment operation using the operator 40.

[0074] The control section 26 notifies that the deviation of the posture of the master robot 20 from the posture of the slave robot 30 exceeds the prescribed deviation amount in a case where the deviation of the posture of the master robot 20 from the posture of the slave robot 30 exceeds the prescribed deviation amount. Therefore, the user can know that the deviation of the posture of the master robot 20 from the posture of the slave robot 30 exceeds the prescribed deviation amount. Also, the user can instruct the control section 26 to make the posture of the master robot 20 coincide with the posture of the slave robot 30 using the operator 40. In this case, since the user instructs to make the posture of the master robot 20 coincide with the posture of the slave robot 30, it is possible to suppress the user from feeling uncomfortable.

[0075] The control section 26 suppresses the posture of the master robot 20 from being changed by an external force applied by the user in a micro-adjustment operation performed by the user using the operator 40. Therefore, it is possible to give priority to the micro-adjustment operation using the operator 40 compared to the master-slave robot operation. In addition, it is possible to suppress the control of the slave robot 30 based on the master-slave robot operation and the control of the slave robot 30 based on the micro-adjustment operation using the operator 40 from interfering with each other.

[0076] Further, the above-described embodiment can be changed as follows. The same reference numerals are attached to the same parts as those of the above-described embodiment, and the description is omitted.

[0077] In the Figure 7 , the processing of S130 and the processing of S135 can be omitted.

[0078] The slave robot 30 is provided with a storage section 35 that stores a history of micro-adjustment operations, and the control section 26 can read the history of micro-adjustment operations stored in the storage section 35.

[0079] It is possible to operate the sequence control to be interrupted in the processing of S184 of Figure 8 , and in a case where the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 is equal to or less than the prescribed deviation amount, end the series of processes of the deviation elimination operation of Figure 8 . In addition, it is possible to operate the sequence control to be interrupted in the processing of S184 of Figure 8In a case where the external force disappears after the operation sequence control is interrupted in the process of S184 of the host robot 20, the host robot 20 returns to a state at the start of the deviation elimination operation, and re-performs the operation sequence control from the beginning of the history record of the fine adjustment operation stored in the storage section 25.

[0080] The master-slave robot system 10 can further include a judging section that judges whether or not the user is applying an external force to the host robot 20, and the control section 26 causes the posture of the host robot 20 to coincide with the posture of the slave robot 30 in a case where the judging section judges that the user is not applying an external force to the host robot 20. For example, the host robot 20 can include a judging section that judges whether or not the user is applying an external force to the host robot 20. The judging section judges the magnitude and direction of the external force (and the presence or absence of the external force) by, for example, measuring the current value of the motor of each joint and calculating the torque proportional to the current value. Also, the control section 26 can cause the posture of the host robot 20 to coincide with the posture of the slave robot 30 in a case where the judging section judges that the user is not applying an external force to the host robot 20 (S30) when eliminating the deviation between the posture of the host robot 20 and the posture of the slave robot 30, as shown in FIG. 6. Further, a torque sensor can be provided in the motor, and the torque can be calculated from the detection result of the torque sensor. Figure 9

[0081] According to the above-described structure, the posture of the host robot 20 is caused to coincide with the posture of the slave robot 30 in a case where the user is not applying an external force to the host robot 20 (S30: No). On the other hand, in a case where the user is applying an external force to the host robot 20 (S30: Yes), the control of causing the posture of the host robot 20 to coincide with the posture of the slave robot 30 is not performed. Therefore, in a case where the user is applying an external force to the host robot 20, it is possible to suppress the posture of the host robot 20 from becoming a posture different from the user's intention, and it is possible to suppress the user from feeling uncomfortable. Further, the process of S30 can be inserted between the process of S17 and the process of S18. Figure 5

[0082] The master-slave robot system 10 can further include a judging section that judges whether or not the user is touching the host robot 20, and the control section 26 causes the posture of the host robot 20 to coincide with the posture of the slave robot 30 in a case where the judging section judges that the user is not touching the host robot 20. For example, the host robot 20 can include a judging section that judges whether or not the user is touching the host robot 20. The judging section judges whether or not the user is touching the host robot 20 from, for example, the detection result of an electrostatic capacitance sensor or the like provided to the arm 22. Also, the control section 26 can cause the posture of the host robot 20 to coincide with the posture of the slave robot 30 in a case where the judging section judges that the user is not touching the host robot 20. In this case, the judging section can be configured to judge whether or not the user is touching the host robot 20 from the detection result of the electrostatic capacitance sensor or the like provided to the arm 22, and the control section 26 can cause the posture of the host robot 20 to coincide with the posture of the slave robot 30 in a case where the judging section judges that the user is not touching the host robot 20. Figure 9 ​​The process of S30 of the above configuration is changed to a process of determining whether the user is touching the master robot 20, and a process of determining whether the user is touching the master robot 20 can also be inserted between the processes of S17 and S18 of the above configuration. Figure 5

[0083] According to the above configuration, in a case where the user is not touching the master robot 20, the posture of the master robot 20 is made to coincide with the posture of the slave robot 30. On the other hand, in a case where the user is touching the master robot 20, the control of making the posture of the master robot 20 coincide with the posture of the slave robot 30 is not performed. That the user is touching the master robot 20 can mean that the user intends to operate the master robot 20 or maintain the posture of the master robot 20. Therefore, in a case where the user is touching the master robot 20, it is possible to suppress the posture of the master robot 20 from becoming a posture that is different from the intention of the user, and it is possible to suppress the user from feeling uncomfortable.

[0084] In the process of S181 of the above configuration, the speed at which the master robot 20 is caused to act, specifically the speed at which the control point is moved, can also be limited to be lower than or equal to the limit speed Vu. In addition, in the process of S181 of the above configuration, the acceleration at which the master robot 20 is caused to act, specifically the acceleration at which the control point is moved, can also be limited to be lower than or equal to the limit acceleration Au. Figure 8 Figure 8 In the process of S181 of the above configuration, the speed at which the master robot 20 is caused to act, specifically the speed at which the control point is moved, can also be limited to be lower than or equal to the limit speed Vu. In addition, in the process of S181 of the above configuration, the acceleration at which the master robot 20 is caused to act, specifically the acceleration at which the control point is moved, can also be limited to be lower than or equal to the limit acceleration Au.

[0085] The fine movement mode is not limited to a mode in which the user inputs a fine adjustment operation through the manipulator 40, and can also be implemented by the detail control mode described in PL1.

[0086] In a case where the deviation elimination operation of eliminating the amount of deviation of the posture of the master robot 20 from the posture of the slave robot 30 is performed by the control section 26 according to the input of the user, the master robot 20 can also be caused to act linearly with the minimum action to eliminate the deviation. In this case, since the user instructs that the posture of the master robot 20 coincides with the posture of the slave robot 30, it is also possible to suppress the user from feeling uncomfortable.

[0087] Instead of the control sections 26 and 36, one control section can also be provided, which is provided to the master robot 20 or the slave robot 30, and controls the master robot 20 and the slave robot 30.

[0088] The master robot 20 and the slave robot 30 can also be robots that are the same in shape and only different in size. In addition, the master robot 20 and the slave robot 30 can also be robots that are the same in shape and size.

[0089] ​​In the above-described embodiment, the example in which the result of the fine adjustment operation is the history of the fine adjustment operation is described, but the result of the fine adjustment operation can be other information capable of determining the posture after the fine adjustment operation. For example, the result of the fine adjustment operation can be information indicating the posture of the slave robot 30 after the fine adjustment operation (for example, the angle of each axis), or the difference in the posture of the slave robot 30 before and after the fine adjustment operation (for example, the amount of change in the angle of each axis).

Claims

1. A master-slave robot system comprising: a master robot whose posture is changed by an external force applied by a user; a slave robot whose posture is controlled in a manner in which the posture of the slave robot is made to coincide with the posture of the master robot; a control section that controls the master robot and the slave robot; and an operator, wherein the operator receives a fine adjustment operation of the user in a state in which control to make the posture of the slave robot coincide with the posture of the master robot is not performed, the control section controls the posture of the slave robot in accordance with the fine adjustment operation of the user in a state in which control to make the posture of the slave robot coincide with the posture of the master robot is not performed, and when a deviation between the posture of the master robot and the posture of the slave robot is eliminated by the fine adjustment operation, makes the posture of the master robot coincide with the posture of the slave robot, and when the posture of the master robot coincides with the posture of the slave robot, limits acceleration of a movement of the master robot to be below a limit acceleration.

2. The master-slave robot system according to claim 1, wherein the control section further limits a speed of the movement of the master robot to be below a limit speed when the posture of the master robot coincides with the posture of the slave robot.

3. The master-slave robot system according to claim 1, further comprising a judgment section that judges whether or not the user is applying the external force to the master robot, wherein the control section makes the posture of the master robot coincide with the posture of the slave robot when it is judged by the judgment section that the user is not applying an external force to the master robot.

4. The master-slave robot system according to claim 1, further comprising a judgment section that judges whether or not the user is touching the master robot, wherein the control section makes the posture of the master robot coincide with the posture of the slave robot when it is judged by the judgment section that the user is not touching the master robot.

5. The master-slave robot system according to claim 1, further comprising a fine adjustment section that controls the posture of the slave robot in accordance with the fine adjustment operation in a state in which control to make the posture of the slave robot coincide with the posture of the master robot is not performed, and stores a result of the fine adjustment operation, wherein the control section makes the posture of the master robot coincide with the posture of the slave robot in accordance with the result stored by the fine adjustment section.

6. The master-slave robot system according to claim 5, further comprising a judgment section that judges whether or not the user is applying the external force to the master robot, wherein the control section makes the posture of the master robot coincide with the posture of the slave robot when it is judged by the judgment section that the user is not applying an external force to the master robot. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The control section interrupts the control to make the posture of the master robot coincide with the posture of the slave robot in a case where the judgment section judges that the user is applying the external force in the execution of the control to make the posture of the master robot coincide with the posture of the slave robot, and after the interruption, resumes the control to make the posture of the master robot coincide with the posture of the slave robot from a time point of the interruption in a case where the judgment section judges that the user is not applying the external force.

7. The master-slave robot system according to claim 1, wherein The control section notifies that the deviation of the posture of the master robot from the posture of the slave robot exceeds a prescribed amount in a case where the deviation exceeds the prescribed amount, The operator instructs the control section to make the posture of the master robot coincide with the posture of the slave robot.

8. The master-slave robot system according to claim 7, wherein The control section suppresses the external force applied by the user from changing the posture of the master robot in the fine adjustment operation by the user using the operator.

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