console device

Abstract

The purpose of one or more embodiments of the present disclosure is to reduce resistance received from a console device when an operator operates the console device.　This console device is provided with: a gripped part that is gripped by an operator; a gimbal that rotatably supports the gripped part around a yaw axis, a pitch axis, and a roll axis that intersect each other; and a control unit that controls the gimbal. The gimbal includes: harness winding parts wound around respective joints around the yaw axis, around the pitch axis, and around the roll axis; drive units for applying torques to the respective joints; and angle sensors for detecting angles of the respective joints and outputting detection values of the angles of the respective joints to the control unit. The control unit controls the drive units on the basis of the detection values input from the angle sensors, thereby compensating the torques applied to the respective joints by the drive units by torsional torques of the respective joints caused by the harness winding parts.

Description

[Technical Field]

[0001] The present disclosure relates to a console device. [Background technology]

[0002] A manipulator, also known as an articulated robot, has multiple links connected in series, and the movement of the manipulator is achieved by driving the joints with servo motors or the like.

[0003] A master-slave system is sometimes used to remotely control a manipulator. In this system, when an operator operates a master console device at hand, the master console device transmits a control signal corresponding to the operation to the slave manipulator, and the slave manipulator follows the control signal and follows the operation of the console device.

[0004] Torque due to the weight of the manipulator's links acts on the joints, and therefore, in order to accurately control the manipulator, a compensation technique is required to cancel out such torque (see Patent Documents 1 to 3).

[0005] Patent Document 1 discloses a technique for compensating for the weight of a link of a manipulator by using a counterweight.

[0006] Patent Document 2 discloses a technique in which an actuator for driving the joints of a manipulator is used in combination with a weight compensation actuator, and the weight compensation actuator applies torque to the joints to compensate for the weight of the links.

[0007] Patent Document 3 discloses a technique for setting a pressure target required for weight compensation from the current position of a robot arm, and for controlling the pressure of a pneumatic actuator based on the pressure target. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2021-130161 A [Patent Document 2] WO 2017 / 159188 A1 [Patent Document 3] WO 2016 / 051495 A1 Summary of the Invention [Problem to be solved by the invention]

[0009] A weight compensation technique is also required for console devices so that an operator does not feel the weight of the console device when operating it by hand. However, Patent Documents 1 to 3 disclose techniques related to weight compensation for manipulators, but do not disclose techniques related to weight compensation for console devices.

[0010] The console device has a control harness, and the harness is connected from the proximal end of the console device to the distal end of the console device via the joint of the console device. Edge The harness is wound around the joint to allow rotation of the joint. Such a winding of the harness generates torque at the joint. Such torque creates resistance for the operator operating the console device.

[0011] Therefore, an object of one or more embodiments of the present disclosure is to reduce the resistance that an operator experiences from a console device when operating the console device. [Means for solving the problem]

[0012] In order to solve the above problems, according to one aspect of the present disclosure, a console device includes a graspable part, a gimbal, and a control unit. The graspable part is grasped by an operator. The gimbal rotatably supports the graspable part around a yaw axis, a pitch axis, and a roll axis that intersect with one another. The control unit controls the gimbal. The gimbal has a harness winding part, a drive unit, and an angle sensor. The harness winding part is wound around each joint around the yaw axis, the pitch axis, and the roll axis. The drive unit applies torque to each of the joints. The angle sensor detects the angle of each of the joints and outputs the detected value of the angle of each of the joints to the control unit. The control unit controls the drive unit based on the detected value input from the angle sensor, thereby calculating the torque applied to each of the joints by the drive unit. Gravity torque of each joint due to gravity; Torsional torque of each joint caused by the harness winding portion With harmony We will compensate you accordingly. [Effects of the Invention]

[0013] The console device according to one or more embodiments of the present disclosure contributes to reducing the resistance that an operator experiences from the console device when operating the console device. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram of a remote-controlled robot system. [Figure 2] Figure 2 shows the console device. [Figure 3] FIG. 3 shows the left and right consoles of the console device. [Figure 4] FIG. 4 shows the gimbal and hand controller mounted at the distal end of the right console. [Figure 5] FIG. 5 shows the gimbal and hand controller mounted at the distal end of the right console. [Figure 6] Figure 6 is a graph showing the relationship between joint angle and torque. DETAILED DESCRIPTION OF THE INVENTION

[0015] One or more embodiments of the present disclosure will be described below with reference to the drawings. Features and technical advantages of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and the scope of the present invention is not limited to the examples in the drawings.

[0016] 1. Overview of the remote-controlled robot system FIG. 1 is a block diagram of a remote-controlled robot system.

[0017] The remote-controlled robot system comprises a robot 1 and a console device 2. The console device 2 is the master, and the robot 1 is the slave. When an operator such as a doctor operates the console device 2, the robot 1 moves in accordance with the operation of the console device 2.

[0018] 2. Robot The robot 1 is installed in a work space such as an operating room. The robot 1 performs tasks such as surgery. The robot 1 includes two manipulators 15, two end effectors 16, and a slave control unit 19.

[0019] The two manipulators 15 are arranged side by side, one on the left and one on the right. The manipulators 15 are vertically articulated robots with five, six, or seven degrees of freedom. The manipulators 15 have multiple links, multiple joints, and multiple drive units. These links are connected in series by joints from the proximal end to the distal end of the manipulator 15. These joints include a rotational joint as well as a bending joint and a torsion joint. The drive units are connected to the joints. The manipulator 15 operates when the drive units apply torque to the joints.

[0020] The end effector 16 is coupled to the distal end of the manipulator 15. The end effector 16 may be a medical instrument such as forceps, forceps, scissors, tweezers, or a scalpel, etc. In this embodiment, the end effector 16 is a forceps.

[0021] The slave control unit 19 is one or more computers having a CPU (Central Processing Unit), RAM (Random Access Memory), bus, bus controller, interface circuit, drive circuit, communication device, etc. The slave control unit 19 inputs operation signals from the master control unit 3 of the console device 2. The slave control unit 19 controls the manipulator 15 and the end effector 16 in accordance with the operation signals, thereby causing the manipulator 15 and the end effector 16 to follow the console 60 of the console device 2.

[0022] <3. Console Device> FIG. 2 is a perspective view of the console device 2. As shown in FIG.

[0023] The console device 2 is installed away from a work site such as an operating room, etc. Alternatively, the console device 2 may be installed in the work site.

[0024] The console device 2 includes a cart 50 , a base 51 , a seat 52 , a display unit 53 , two consoles 60 and a master control unit 3 .

[0025] The master control unit 3 is one or more computers having a CPU (Central Processing Unit), RAM (Random Access Memory), bus, bus controller, interface circuit, drive circuit, communication device, etc. The master control unit 3 controls the console device 2. The master control unit 3 can communicate with the slave control unit 19 via a network or the like.

[0026] The cart 50 has casters with stoppers at the bottom and can be moved by the casters. The base 51 is fixed to the rear of the carriage 50 and stands upright from the rear of the carriage 50. The seat 52 is fixed to the front of the cart 50 and stands upright from the front of the cart 50. The operator sits on the seat 52 and operates the console 60.

[0027] The display unit 53 is a full-color display device such as a liquid crystal display device, an organic EL display device, etc. The display unit 53 displays images of the manipulator 15 and the end effector 16 captured by the camera.

[0028] The two consoles 60 are connected to the upper part of the base 51 and are lined up on the left and right with a gap between them. These consoles 60 extend forward from the base 51, and an operator grasps the left and right consoles 60 with their left and right hands, respectively. When the operator moves the left console 60 with his left hand, the left manipulator 15 and end effector 16 move in accordance with the movement of the left console 60, and when the operator moves the right console 60 with his right hand, the right manipulator 15 and end effector 16 move in accordance with the movement of the right console 60.

[0029] FIG. 3 is a perspective view of the left and right consoles 60. FIG. As shown in FIG. 3, the console 60 includes an articulated link mechanism 79, a gimbal 80, and a grasped portion 90.

[0030] The proximal end of the joint link mechanism 79 is connected to the base 51, the distal end of the joint link mechanism 79 is connected to the gimbal 80, and the grasped part 90 is connected to the gimbal 80. Here, "distal" refers to a side farther from the base 51, and "proximal" refers to a side closer to the base 51.

[0031] The joint link mechanism 79 supports the gimbal 80 and the grasped part 90 so that they can translate with three degrees of freedom. The gimbal 80 supports the grasped part 90 so that they can rotate with three degrees of freedom. When the operator grips the grasped part 90 and moves it, the posture and orientation of the grasped part 90 are changed by the gimbal 80, and the grasped part 90 and the gimbal 80 are translated by the joint link mechanism 79. The joint link mechanism 79 is used by the operator to adjust the position of the end effector 16 by remotely operating the manipulator 15. The gimbal 80 is used by the operator to adjust the posture of the end effector 16 by remotely operating the manipulator 15. Because the grasped part 90 is used by the operator to remotely operate the end effector 16, the grasped part 90 will be referred to as the hand controller 90 below.

[0032] The joint link mechanism 79 has a rotating part 61, a proximal link 62, a distal link 63, a first joint 64, a second joint 65, and a third joint 66. As shown in Figure 1, the joint link mechanism 79 has driving parts 67 to 69 and sensors 70 to 72 that are used to control the joint link mechanism 79.

[0033] The swivel unit 61 is rotatably connected to the upper part of the base 51 by a first joint 64. The swivel unit 61 is provided so as to rotate relative to the base 51 around a vertical rotation axis by the first joint 64. The swivel unit 61 and the first joint 64 correspond to the proximal end of the joint link mechanism 79.

[0034] A rotation angle sensor 70 such as a rotary encoder is provided on the base 51, and a first drive unit 67 such as a motor is also provided on the base 51. The rotation angle sensor 70 and the first drive unit 67 are connected to the first joint 64. The rotation angle sensor 70 detects the rotation angle of the rotation unit 61 around the rotation axis and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the rotation angle sensor 70 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 according to the detected value of the rotation angle sensor 70. The first drive unit 67 applies torque around the pivot axis to the first joint 64 and the pivot unit 61 .

[0035] The proximal end of the proximal link 62 is rotatably connected to the pivoting unit 61 by a second joint 65. The proximal link 62 is provided so as to be swung up and down relative to the pivoting unit 61 around a horizontal first swing axis extending left and right by the second joint 65. The proximal link 62 may be configured by a link mechanism such as a parallel link mechanism.

[0036] A first swing angle sensor 71 such as a rotary encoder is provided on the rotating part 61, and a second driving part 68 such as a motor is provided on the rotating part 61. The second driving part 68 and the first swing angle sensor 71 are connected to the second joint 65. The first swing angle sensor 71 detects the first swing angle of the proximal link 62 around the first swing axis and outputs the detected value to the master control part 3. The master control part 3 transfers the detected value of the first swing angle sensor 71 to the slave control part 19. The slave control part 19 controls the manipulator 15 based on the detected value of the first swing angle sensor 71. The second drive unit 68 applies torque around the first swing axis to the second joint 65 and the proximal link 62.

[0037] The proximal end of the distal link 63 is rotatably connected to the distal end of the proximal link 62 by a third joint 66. The distal link 63 is provided so as to swing up and down relative to the proximal link 62 around a second swing axis parallel to the first swing axis by the third joint 66. The distal link 63 may be formed by a link mechanism such as a parallel link mechanism.

[0038] A second swing angle sensor 72 such as a rotary encoder is provided on the rotating part 61, and a third drive unit 69 such as a motor is provided on the rotating part 61. The second swing angle sensor 72 and the third drive unit 69 are connected to the third joint 66 via a link mechanism or the like. The second swing angle sensor 72 detects the second swing angle of the distal link 63 around the second swing axis and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the second swing angle sensor 72 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the second swing angle sensor 72. The third drive unit 69 applies torque around the second swing axis to the third joint 66 and the distal link 63 .

[0039] The distal end of the distal link 63 corresponds to the distal end of the articulation link mechanism 79 , and a gimbal 80 is attached to the distal end of the distal link 63 .

[0040] 4 and 5 are perspective views of the right gimbal 80 and hand controller 90. The left gimbal 80 and hand controller 90 are bilaterally symmetrical to the right gimbal 80 and hand controller 90.

[0041] As shown in FIGS. 1, 4 and 5, the gimbal 80 has a connecting arm 81, a first rotating arm 82, a second rotating arm 83, joints 84-86, harness winding portions 84a-86a, driving portions 91-93 and angle sensors 94-96.

[0042] The proximal end of the connecting arm 81 is attached to the distal end of the distal link 63. The connecting arm 81 has an L-shaped curve from the proximal end to the distal end of the connecting arm 81 within the plane in which the distal link 63 swings up and down.

[0043] The proximal end of the first rotating arm 82 is rotatably connected to the distal end of the connecting arm 81 by a joint 84. The first rotating arm 82 is provided so as to be rotatable relative to the connecting arm 81 around a yaw axis 111 at the joint 84. The yaw axis 111 is along the plane along which the distal link 63 swings up and down. The yaw axis 111 is vertical because the joint link mechanism 79 supports the gimbal 80 and hand controller 90 so that they can move translationally.

[0044] The harness winding portion 84a is wound around the joint 84. The harness winding portion 84a is a bundle of wires wound around the master control unit 3, the drive units 91 to 93, the angle sensors 94 to 96, the swing angle sensor 98 (described later), and the pinch drive unit 97 (described later). The harness winding portion 84a functions as a torsion spring. In other words, the harness winding portion 84a applies a torsion torque around the yaw axis 111 to the joint 84. The torsion torque generated by the harness winding portion 84a is determined depending on the yaw angle of the first rotating arm 82 around the yaw axis 111. Specifically, the torsion torque is expressed as a linear function of the yaw angle. In other words, the torsion torque can be expressed as T y [Nm], yaw angle is θ y [deg], the torque spring constant of the harness winding portion 84a is a y [Nm / deg], the initial torsional torque when the yaw angle is zero is b y [Nm], the torsional torque T y is the formula "T y =a y θ y +b y " is expressed as

[0045] A yaw angle sensor 94 such as a rotary encoder is connected to the joint 84, and a yaw drive unit 91 such as a motor is connected to the joint 84. The yaw angle sensor 94 detects the yaw angle of the first rotating arm 82 around the yaw axis 111 and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the yaw angle sensor 94 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the yaw angle sensor 94. The yaw drive unit 91 applies torque around the yaw axis 111 to the joint 84 and the first rotation arm 82 .

[0046] The proximal end of the second rotating arm 83 is rotatably connected to the distal end of the first rotating arm 82 by a joint 85. The second rotating arm 83 is provided rotatably relative to the first rotating arm 82 around a pitch axis 112 at the joint 85. The pitch axis 112 is perpendicular to the yaw axis 111. The joint link mechanism 79 supports the gimbal 80 and the hand controller 90 so that they can move translationally, and therefore the pitch axis 112 is horizontal.

[0047] The harness winding portion 85a is wound around the joint 85. Similar to the harness winding portion 84a, the harness winding portion 85a is formed by winding a bundle of wires. The harness winding portion 85a functions as a torsion spring that applies a torsional torque around the pitch axis 112 to the joint 85. The torsional torque generated by the harness winding portion 85a is expressed as a linear function of the pitch angle of the second rotation arm 83 around the pitch axis 112.

[0048] A pitch angle sensor 95 such as a rotary encoder is connected to the joint 85, and a pitch driver 92 such as a motor is connected to the joint 85. The pitch angle sensor 95 detects the pitch angle of the first rotating arm 82 around the pitch axis 112 and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the pitch angle sensor 95 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the pitch angle sensor 95. The pitch drive unit 92 applies torque around the pitch axis 112 to the joint 85 and the second rotating arm 83 .

[0049] The hand controller 90 is rotatably coupled to the distal end of the second rotating arm 83 by a joint 86. The hand controller 90 is rotatable relative to the second rotating arm 83 around a roll axis 113 at the joint 86. The roll axis 113, pitch axis 112, and yaw axis 111 intersect with each other at a common intersection.

[0050] The harness winding portion 86a is wound around the joint 86. Similar to the harness winding portion 84a, the harness winding portion 86a is a bundle of wires wound around it. The harness winding portion 86a functions as a torsion spring that applies a torsional torque around the roll axis 113 to the joint 86. The torsional torque generated by the harness winding portion 86a is expressed as a linear function of the roll angle of the hand controller 90 around the roll axis 113.

[0051] A roll angle sensor 96 such as a rotary encoder is connected to the joint 86, and a roll driver 93 such as a motor is connected to the joint 86. The roll angle sensor 96 detects the roll angle of the tab 87 of the hand controller 90 around the roll axis 113 and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the roll angle sensor 96 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the roll angle sensor 96. The roll drive 93 applies torque about the roll axis 113 to the joint 86 and the tab 87 .

[0052] The hand controller 90 has a tab 87 , a handle 88 , an operating lever 89 , a pinch drive unit 97 and a swing angle sensor 98 .

[0053] The tab 87 is rotatably connected to the distal end of the second rotating arm 83 by a joint 86. The tab 87 is rotatable relative to the second rotating arm 83 around a roll axis 113 at the joint 86. The roll axis 113 is perpendicular to the pitch axis 112. The roll axis 113, the pitch axis 112, and the yaw axis 111 intersect with each other at a common intersection. The tab 87 extends from the joint 86 along the roll axis 113 toward the common intersection.

[0054] The tab 87 is shaped like a rectangular parallelepiped. The shape of the tab 87 may be a cylindrical or elliptical cylindrical shape having a central axis along the roll axis 113.

[0055] The operating lever 89 is disposed facing the side surface of the tab 87. The proximal end of the operating lever 89 is connected to the tab 87 near the joint 86 so as to be rotatable around an axis perpendicular to the roll axis 113. The operating lever 89 extends along the roll axis 113 from its proximal end to its distal end. The operating lever 89 is swingable around the axis of its proximal end so as to move towards and away from the side surface of the tab 87. When the operator swings the operating lever 89 mainly with the index finger, the operating lever 89 moves towards and away from the tab 87. On the side of Move it towards or away from the object.

[0056] The pinch drive unit 97 has, for example, a motor and applies torque to the operating lever 89.

[0057] The swing angle sensor 98 has, for example, a rotary encoder. The swing angle sensor 98 detects the swing angle of the operating lever 89 and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the swing angle sensor 98 to the slave control unit 19. The slave control unit 19 controls the end effector 16 based on the detected value of the swing angle sensor 98.

[0058] The handle 88 is disposed opposite the end face of the tab 87. The handle 88 is attached to the tab 87 via a linear guide. The handle 88 extends from the linear guide in a direction intersecting with the roll axis 113. The handle 88 is shaped like a column having a central axis intersecting with the roll axis 113, more specifically, like a cylinder.

[0059] The handle 88 is provided so as to be movable along the roll axis 113 by a linear guide so as to approach and move away from the end face of the tab 87 .

[0060] The operator places the palm of his / her hand on the handle 88, grips the handle 88 with his / her palm, and pinches the tab 87 and the operating lever 89 with his / her fingers. If the operator holds the hand controller 90 in this way, the strain on the operator's hands when operating the hand controller 90 is reduced, and the operator can operate the hand controller 90 with precision and delicacy.

[0061] Since the handle 88 can be moved toward or away from the end face of the tab 87, the operator can adjust the position of the handle 88 to suit the size of his or her hand.

[0062] The operator operates the rotating unit 61, the proximal link 62, the distal link 63, and the gimbal 80 by moving their wrists, arms, shoulders, upper body, etc. while gripping the handle 88. When the operator operates the rotating unit 61, the proximal link 62, the distal link 63, and the gimbal 80, the master control unit 3 transfers the detection values ​​of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96 to the slave control unit 19. The slave control unit 19 controls the manipulators 15 based on the detection values ​​of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96. As a result, the left manipulator 15 follows the movement of the left console 60, and the right manipulator 15 follows the movement of the right console 60.

[0063] When the operator swings the operating lever 89 with his / her finger, the master control unit 3 transfers the detection value of the swing angle sensor 98 to the slave control unit 19. The slave control unit 19 controls the end effector 16 based on the detection value of the swing angle sensor 98. As a result, the left end effector 16 follows the swing of the operating lever 89 of the left hand controller 90, and the right end effector 16 follows the swing of the operating lever 89 of the right hand controller 90. swing Follow up.

[0064] <4. Compensation> In order to prevent the operator from receiving excessive reaction force from the console 60 when operating the console 60 while looking at the display unit 53, and to prevent the console 60 from moving due to its own weight and the torsional torque of the harness winding portions 84a, 85a, and 86a when the operator releases his or her hands from the console 60, the master control unit 3 performs the following compensation processing.

[0065] (1) Yaw angle (1-1) Calculation of counteracting torque As described above, the yaw angle sensor 94 detects the yaw angle of the first rotating arm 82 around the yaw axis 111 and outputs the detected value to the master control unit 3. The master control unit 3 calculates a counteracting torque from the detected value of the yaw angle sensor 94. The counteracting torque is a torque that counteracts both the gravitational torque generated at the joint 84 due to the weight of the first rotating arm 82 and the torsional torque generated at the joint 84 due to the torsion of the harness winding portion 84a. In other words, the counteracting torque is balanced with the sum of the gravitational torque and the torsional torque. Here, FIG. 6 is a graph showing the relationship between an arbitrary yaw angle and torque. As shown by the dashed curve in FIG. 6, the gravitational torque is determined depending on the attitude of the first rotating arm 82, that is, the yaw angle. The torsional torque of the harness winding portion 84a is determined depending on the yaw angle of the first rotating arm 82. Therefore, the solid curve in FIG. 6 inAs shown, the sum of the gravity torque and the torsion torque is determined depending on the yaw angle of the first rotating arm 82, and the canceling torque that balances the sum of the gravity torque and the torsion torque is also determined depending on the yaw angle of the first rotating arm 82.

[0066] To calculate the counteracting torque, the master control unit 3 stores in advance a function representing the relationship between an arbitrary yaw angle of the first rotating arm 82 and the counteracting torque as a mathematical formula or a look-up table. When the master control unit 3 receives a detected yaw angle value from the yaw angle sensor 94, it applies the detected value to the function to calculate the counteracting torque corresponding to the detected value. The function representing the relationship between the yaw angle of the first rotating arm 82 and the counteracting torque was determined in advance through experiments or simulations.

[0067] (1-2) Generation of counteracting torque When the master control unit 3 controls the yaw drive unit 91 to generate a counter torque, the yaw drive unit 91 generates a counter torque in the joint 84 .

[0068] Thereafter, the master control unit 3 executes the calculation process and generation process of the counteracting torque at the sampling period of the yaw angle sensor 94 or at an integral multiple thereof.

[0069] (2) Pitch angle As described above, the pitch angle sensor 95 detects the pitch angle of the second rotating arm 83 around the pitch axis 112 and outputs the detected value to the master control unit 3. The master control unit 3 calculates the counteracting torque from the detected value of the pitch angle sensor 95. Next, when the master control unit 3 controls the pitch drive unit 92 to generate the counteracting torque, the pitch drive unit 92 generates the counteracting torque in the joint 85. Thereafter, the master control unit 3 executes the calculation process and generation process of the counteracting torque at every sampling period of the pitch angle sensor 95 or an integral multiple thereof.

[0070] (3) Roll angle As described above, the roll angle sensor 96 detects the roll angle of the tab 87 of the hand controller 90 around the roll axis 113 and outputs the detected value to the master control unit 3. The master control unit 3 calculates the counteracting torque from the detected value of the roll angle sensor 96. Next, the master control unit 3 calculates the counteracting torque by Roller drive unit 93 When this control is performed, the roll driver 93 generates a counter torque at the joint 86. After that, the master control unit 3 executes the calculation process and generation process of the counter torque at every sampling period of the roll angle sensor 96 or an integral multiple thereof.

[0071] <5. Summary> The master control unit 3 controls the yaw drive unit 91 based on the detection value input from the yaw angle sensor 94, thereby compensating for the torque applied to the joint 84 by the yaw drive unit 91 by the amount of torsional torque of the joint 84 caused by the harness winding portion 84a. Specifically, the master control unit 3 applies the detection value of the yaw angle sensor 94 to a function that represents the relationship between an arbitrary yaw angle of the joint 84 and the counteracting torque, thereby calculating the counteracting torque corresponding to the detection value using the function. When the master control unit 3 controls the yaw drive unit 91 to generate the counteracting torque, the yaw drive unit 91 generates the counteracting torque at the joint 84. The counteracting torque is balanced with the sum of the gravitational torque generated at the joint 84 due to the weight of the first rotating arm 82 and the torsional torque generated at the joint 84 due to the torsion of the harness winding portion 84a. Therefore, when the operator moves the hand controller 90, the operator is less likely to feel resistance around the yaw axis 111.

[0072] Similarly, the master control unit 3 controls the pitch drive unit 92 based on the detection value input from the pitch angle sensor 95, thereby compensating for the torque applied to the joint 85 by the pitch drive unit 92 by the amount of the torsional torque of the joint 85 caused by the harness winding part 85a. Therefore, when the operator moves the hand controller 90, the operator is less likely to feel resistance around the pitch axis 112.

[0073] Similarly, the master control unit 3 controls the roll drive unit 93 based on the detection value input from the roll angle sensor 96, thereby compensating for the torque applied to the joint 86 by the roll drive unit 93 by the amount of the torsional torque of the joint 86 caused by the harness winding part 86a. Therefore, when the operator moves the hand controller 90, the operator is less likely to feel resistance around the roll axis 113.

[0074] Since the resistance received from the hand controller 90 when the operator operates the hand controller 90 is reduced, the operator's fatigue is also reduced. The operator does not need to operate the hand controller 90 with excessive force. hand This allows the robot 1 to be remotely controlled stably and safely. [Explanation of symbols]

[0075] 2. Console device 3 Master control unit 80 Gimbal 84 Yaw axis joint 85 Pitch axis joint 86 Roll axis joint 91 Yaw drive unit 92 Pitch drive unit 93 Roll drive unit 94 Yaw angle sensor 95 Pitch angle sensor 96 Roll angle sensor 90 Hand controller (grasped part)

Claims

1. a grasped part to be grasped by an operator; a gimbal that rotatably supports the gripped part around a yaw axis, a pitch axis, and a roll axis that intersect with one another; a control unit for controlling the gimbal; Equipped with The gimbal is a harness winding portion wound around each joint around the yaw axis, the pitch axis, and the roll axis; a drive unit that applies torque to each of the joints; an angle sensor that detects the angle of each of the joints and outputs the detected value of the angle of each of the joints to the control unit; and The control unit controls the drive unit based on the detection value input from the angle sensor, thereby compensating for the torque applied to each of the joints by the drive unit by the sum of the gravitational torque of each of the joints caused by gravity and the torsional torque of each of the joints caused by the harness winding part. Console device.

2. The control unit controls the drive unit based on the detection value input from the angle sensor, and the drive unit generates, in each joint, a counter torque that counteracts the gravitational torque of each joint caused by gravity and the torsional torque of each joint caused by the harness winding portion. The console device according to claim 1 .

3. The control unit a calculation process for calculating the counter torque from the detection value input from the angle sensor; a generating process of controlling the drive unit so as to generate the counter torque calculated by the calculating process at each of the joints; Run The console device according to claim 2 .

4. The control unit executes the calculation process and the generation process every time a detection value is input from the angle sensor. The console device according to claim 3 .

5. the control unit stores in advance a function representing a relationship between the angle and torque of each of the joints; The control unit calculates the counter torque corresponding to the detection value input from the angle sensor using the function in the calculation process.

5. The console device according to claim 3 or 4.

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