DE2750302A1 - Multidimensional robot movement control - by dividing each movement into component steps and storing movement information which is later reproduced - Google Patents

Abstract

The movement track of at least one point is subdivided through at least two power transmission lines on to basic paths or on to steps using stop limit positions. For the control of a point's movement over its stop limit positions an information item is stored in the main information storage for each stop limit position over which the point is to be moved. From this main information contents a contro signal is generated which either moves the point over the next limit position or in the event of no signal being generated stops it at the next limit position.

Description

name of applicant: Farkas, Györ @ g

Apartment: 3340 Wolfenbüttel, Käthe-Kollwitz-Platz 4 Procedure for multi-dimensional Motion Control The invention relates to a method for multi-dimensional motion control precisely repeatable movements.

Such a method for multi-dimensional motion control must be used for the creation of simple robotic devices that perform precisely repetitive tasks be suitable if the evenness of the movement is released.

Known methods for multidimensional motion control, see below them the numerical control are characterized by the fact that for tripping the n @ casten movement must be told back the perfection of the preceding one. This property makes the controls working with anscalag and limit switches inelastic with regard to reprogramming, the numerical control is complicated and too expensive to be used as a basis for household robots. Are known continue to control method for one-dimensional step-by-step movements, the but consequently no diverse positional relationships, evasion, overtaking, end, allow the movement-controlled objects to rotate.

The invention is based on the object of a method for multi-staff members To create motion control, with the aim of making the construction extremely diverse, however to enable exact repetitive work of robotic devices.

According to the invention, this object is achieved in that the track at least one point at least two, up to the grain, its movement to Steering is the extension of power transmission lines on elementary paths or rather is divided into steps by stopping limit points, and for the control of the Moving the point over its stopping point an information level in the haunt information store in the case of every stopping point. Moving over the point is provided is the information content of a control signal for each stop limit point to be avoided arises. @ with overshoot control in the time when the point is down on @ @@ Mittelver us @ @ @@@ @@ deher @ nhali @ @@ z @@@ le lying @ leren- @ @@@ @ @r @@@ fall at the stopping point to be overcome, given is, whereby the drawn or maintained sewing the point over the stopping point moves @@@ @ if there is no signal, it will still be moving @@@@@ liche Point with overshoot-free control up to or the next stop limit point faulty, whereby in the case of overreach vibration the speed is either the downward relationship - @@@ e passing on the information content of the main information # whichever or of the point is pre-changed to the sign of the overshoot @@@@ calculating, or The advantage achieved with the invention is that by assigning a signal to every elementary path or every - @@@@@ limit point every variation of movement in variation of the temporal succession and possibly the size and size easily searchable Signals are converted, thus antigenic for life, so far to a similar extent Variations in movement that are only revised by the brain and passed on through showing fix @ and can be repeated at any time.

versatility of the more accurate according to the method according to the invention Ro @@ ter devices shows, for example, that the information storage cartridge Prepare and service very different dishes with conventional tools and wash and tidy up the dishes and cutlery. With a different program the robot device @r can, for example, get other work equipment from a magazine The Xobot equipment can also be used as a Toys, for example for the on - @@ range of puppet shows.

@ne symbolic robot device for the realization of the he - @@ nd according to Procedure for multidimensional motion control is more beneficial for overshoots Case shown in Fig. 1 and will be described in more detail below.

The stepper motors or other known stepper drives 1, 2 and ) ground using any known single or multi-part, led or free moving power transmission elements, preferably cables 4, 5 and 6 with the control Body 7 positively connected. To increase the evenness of the scoring Move contains the power transmission line spring 8 and shock absorber 9. The signal transmitter 10, 11 and 12 of the preferably with magnetic tape and / or perforated tape or signal record Information carriers 17 of the equipped main information memory control the 14, 15 and 16 amplifiers or switches connected to the output of the stepper drives are.

The robotic device works as follows.

Those given by the signal generator 10, 11 and 12 of the main information memory Signals control the elementary paths via the amplifiers or switches 14, 15 and 16 or step drives 1, 2 and 3 which determine the steps and stopping limit points Over the KraitZbertragungslinien 4, 5 and 6 the body 7 to be controlled in each case the corresponding number of steps or elementary paths in the programmed direction move.

For example, part of the program for brushing a multicolored Shoes with two brush tools are made by using a brush and shovel paste one color, and after changing the: brush with the other Schupaste the other color can be treated.

Claims (1)

Claim: 1. Method for multi-dimensional motion control Exactly repeatable movements, which means that the Lauibahn at least one point each at least two, up to the body, its To control movement iet extending lines of force transmission in elementary ways or is divided into steps by stopping limit points, and for being in control of moving the point over. Stopping limit stalls an information content in the main information store ii the case of any stopping point over which the point is to be moved iet of which inrormatlonagehalt a control signal per stop limit point to be overcome arises that with overshoot-free control in the time when the point is calibrated also on the elementary path immediately before the stopping point to be overcome or is located in the border area at the stopping point to be overcome, is given, thereby triggered or sustained movement of the point over the stopping limit point is moved, but if there is no signal, the one that is still moving will be Point with overshoot-free control up to or at the next stop limit point stopped, whereby in the event of overshoot the speed is either the or forwarding of the information content of the main information store or the point is changed according to the sign of the overshoot.