GB2240614A - Modular manual control device for manipulators - Google Patents

Modular manual control device for manipulators Download PDF

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Publication number
GB2240614A
GB2240614A GB9002114A GB9002114A GB2240614A GB 2240614 A GB2240614 A GB 2240614A GB 9002114 A GB9002114 A GB 9002114A GB 9002114 A GB9002114 A GB 9002114A GB 2240614 A GB2240614 A GB 2240614A
Authority
GB
United Kingdom
Prior art keywords
module
carriage
manipulator
connected
modules
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB9002114A
Other versions
GB9002114D0 (en
Inventor
Umirbek Arislano Dzholdasbekov
Alexei Timofeevich Lukyanov
Leonid Iosifovich Slutsky
Evgeny Alexandrovich Safontsev
Nutpulla Kamalovich Dzhamalov
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kazakhsky Gosudarstvenny Universitet Imeni Sm Kirova
KAZAKHSKY, University of
Original Assignee
* KAZAKHSKY GOSUDARSTVENNY UNIVERSITET IMENI S.M. KIROVA
UNIV KAZAKHSKY
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by * KAZAKHSKY GOSUDARSTVENNY UNIVERSITET IMENI S.M. KIROVA, UNIV KAZAKHSKY filed Critical * KAZAKHSKY GOSUDARSTVENNY UNIVERSITET IMENI S.M. KIROVA
Priority to GB9002114A priority Critical patent/GB2240614A/en
Publication of GB9002114D0 publication Critical patent/GB9002114D0/en
Publication of GB2240614A publication Critical patent/GB2240614A/en
Application status is Withdrawn legal-status Critical

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/02Hand grip control means

Abstract

The device comprises a base (1), a series of connected modules (4-7), each having a position pickup (eg. 15, 24) and a handle (2). One module is provided for each degree of mobility of the manipulator being controlled; the modular construction enables the control of manipulators with differing degrees of mobility. In Fig. 1, one rotary movement module (4) and three orthogonal linear movement modules (5, 6, 7) are provided. Each linear module has two parallel guides (7) between which a carriage (8) is supported for movement by balls (9). The position pickup (15) is provided on the carriage (8). The rotary module (4) comprises inner and outer casings (19, 20), relative movement of which is detected by pickup (24). Further rotary pickups (18, 25) may be provided for rotation about axes (17, 26). A close/open switch (27) and a speed control pickup (28) may also be provided. <IMAGE>

Description

.Cl 0 is -1- -1 1 =PULATOR CONTROL DEVICE ---AlL a The present invention

relates to control of manipulators and in particular to manipulator control devices.

The invention may be used in control systes for industrial robots2 remotely operated manipulators and controllable moving objects, which are used in automatic lines,in a medium harmful to health. It is also suitable for remote control of space and underwater installations and objects located in extreme zones ctiaracterized by radioactive irzadiation, high or low pressure and iaigh or low temperature.

There is known a manipulator control device (cf.

SUq As 7--9,505) comprising a base, a mectianism for Q shaping signals enabling manipulator movement with position pickups, which is connected to the base, and a control handle linked with the mechanism for shaping signals enabling manipulator movement. The mecaanism for shaping signals enabling manipulator movement comprises two pairs of rotary arched members interconnect- ed by a telescopic rod. The position pickups are located on the bushing of the telescopic rod along axes of rotation of the rotary arched members. Each rotary arched member is linked with an assembly adapted for fixing said arched members in a neutral position.

2 Tile foregoing control device does not provide for changes in the construction of the mechanism for shaping signals ensuring manipalatox movement to suit a particular type of manipulator.

There is also known a manipulator control device (cf. Sul Aq 50 056) comprising a base,-a meonaL.ism for shaping signals enabling manipulator movement with positionpickups, which is connected to the base, and a control handle linked with the mechanism for aliaping signals enabling manipalator movement. The mechanism for shaping signals enabling manipulator movement comprises three pairs of parallel elastic plates which are mutually perpendicular. Theplates accomlodate the position pickups.

The aforesaid control aevice does not provide for changes in the construction of the mechanism for snaping signals enabling manipula"uomovement mhen the control involves a different number of manipulat-or mobility degrees.

m-he invention resides in creating a manipulator control device waich would allow chan-in- the construe CJ c tion of a mechanism for shaping siGnals enabling ma nipulator movement with a different number of mani pulator mobility degrees to be controlled whereby functional capabilities of tile control device would be increased.

It is an object of the present invention to in- 1 1 1 3 0 crease functional capabilities of a manipulator control device.

The foregoing object is attained by that in a manipulator control device comprising a base, a mechanism for shaping signals enabling manipulator movement with position pickups, and a control handleg in whichq according to the invention, the mechanism for stapinG signals includes successively connected modules whose number is equal to the number of manipulator mobility degrees -Uo be controlled, the first module being operatively connected to the control kiandle, while tiae last module is connected to the base, each module mountin, its position picEup.

It is acLvantaLeous tkiab tae successively connect- ea modules of the mechanism for shaping signals enabling manipulator movement snould represent a combination ot' traxislational and rotary motion modules.

It is also advanta,,;eous that the successively connected modules of the mechanism for saapin,- siS- nals enabling manipulator movement should comprise a combination of translational motion modules, It is further advantageous that eactL translational motion module of said successively connected modules should include parallel guidesl a carriage dis- posed in said guides and sup-ported by balls installed in seDaratOMss and a synchronizing assembly formed with a single-arm lever operatively linked with one guide, one separator and the carriage.

Desirably each rotary motion module of said sue- cessively connected modules comprises internal and external casings arranged concentrically and-separated by a channel filled with balls.

It is pref erable that the first module of said successively connected modules saould be a translatio- nal motion module whose guides are operatively connected to the control handle, while its carriage is rigidly connected to the internal casing of the next rotary motion module whose external casing is rigidly connected to the carriage of the subsequent tzansla- tional module having its guides rigidly connected to the guides of the last translational motion module whose carriage is rigidly connected to the base.

It is also pref erable that the first module of said successively connected modules should be a trans- lational motion module whose guides are operatively connected to the control hand;e, while its carriage is rigidly connected to the carriage of the next translational motion module having its guides rigidly connected to the guides of the last translational motion module whose carriage is rigidly connected to the base.

Advisably the first module of said successively 1 t 0 connected modules is a translational motion module whose guides are operatively connected to the control handlet while its carriage is rigidly conneGted to the internal casing of the next rotary motion module having its external casing rigidly connected to the carriage of the last translational motion module whose guides are rigidly connected to the base.

The invention makes a manipulator control device more versatile, that isq it permits controlling mani- pulators with a different number of mobility degrees using the same control device.

The invention will now be descr ib ed further with reference to specific embodiments thereof, taken in conjunction with the accompaying drawings wherein:

Figure I is a general view of a control device with three translational motion modules and one rotary motion module according to the invention; Figure 2 is a sectional view of Figure I taken at II II according to the inventionj Figure 3 is a sectional view of Fi6ure I taken at III III according to the invention; Figure I taken Figure 4 is a sectional view oL at IV - IV according to the invention; Figure 5 is a diagrammatioperspective view of the manipulator control device acco.;:,dinS to the invention; Figure 6 is a general view of the control device A comprising three translational motion modules according to the invention; Figure 7 is a general view of the control device comprising two translational motion modules and one rotary motion module according to the invention; and Figure 8 is a block diagram of a manipulator control system according to the invention.

Referring to the drawings the manipulator control device forming the subject of the present invention comprises a base I (Figure 1), a mechanism for shaping signals enabling manipulator movement, which is connected to the base It and a control handle 2 linked with the mechanism for shaping signals enabling manipulator movemerrv, said mechanism comprising SUGGessi- vely connected modules 3, 4, 5 and 6. The number of modules is equal to the number of manipulator mobility degrees to be controlled, which is four in the preferred embodiment of the invention. The module 3 is operatively connected to the handle 2, while the mo- dule 6 is linked with the base 1.

The successively connected modules of the mecha nism for shaping signals enabling manipulator movement represent, for example, a combination of translational and rotary motion modules.

The modules 3s 5 and 6 are translational motion modules. The module 4 is a rotary motion module. The translational miotion modules 3, 5 and 6 are construct- 7 ed in a similar manners eqch module comprising two parallel guides 7, a carriage 8 disposed in the guides 7 and supported by balls 9 installed in rigidly inter connected separators 10, and a synodronizing assembly operatively connected to one guide 7, to one separator and to the carriage 8. The synchronizing assembly of each module includes a single-arm lever 1.1. one end of which is connected to one guide 7- by means of a fastening element 12. The lever 11 has a slot 13 for connection with one separator 10 and the carriage 8 by means of pins 14 and 141t respectively. The carriage 8 mounts a position pickup 15 whose movable contact 16 is rigidly connected with one guide 7. The pickup 15 furnishes a signal enabling translation of the manipulator. The Suides 7 of the module 3 are linked with the control handle 22, in a manner allowing their rotation about axes 17) a position pickup 18 furnishing a signal enabling rotation of the manipulator being arranged along one of said axes.

The rotary motion module 4 compxises an internal casing 19 and an external casing 20, which are arranged concentrically and have a channel 21 therebetween, said channel being filled with balls 22. Arranged along an axis 23 of rotation of the module 4 is a position pickup 24 furnishing a signal representative of angular movements of the manipulator.

8 0 The control handle 2 is provided with a pirkUp 25 furnishing a signal indicative of angular movements relative to an axis 26 after operation of a close-open switch 27 of the manipulator grip (not shown in the drawing), the control handle2being also fitted with a pickup 28 furnishing manipulator speed control signals.

Figure 2 is a sectional view of Figure I taken at II - II. The separators 10 are interconnected by a plate 29 enabling simultaneous movement depending on the position of the control handle 2.

Figure 3 is a sectional view of Figure I taken at III - III.

Figure 4 is a sectional view of Figure I taken at IV - IV. The separators 10 are interconnected with the plate 29.

Figure 5 is a diagrammatic perspective view of the manipulator control device according to the invention.

There may be different combinations of modules in the mechanism for shaping signals enabling manipulator movement depending on manipulator mobility degree a.

The mechanism for shaping signals enabling mani- pulator movement may comprise, for examplet translational motion modules 3 (Figure 6), 5 and 6. With such an arrangement, said mechanism is suitable for Q [ i A controlling a manipulator in three mutually perpendicular planes. Rotary motionsof a manipulator relative to two mutually perpendicular horizontal axesare accomplish- ed by the use of the pickups IS (Figure 1) and 25 (Figure 6).

Furthermores the mechanism for shaping signals enabling manipulator movement may comprise the translational motion modules 3 (Figure 7), 5 and the module 4 adapted for rotary motion relative to a vertical plane. Rotary motionsielative to two mutually perpendicular horizontal axes ' accomplished by the use of the pickups 18 (Figure 1) and 25 (Figure 7).

Figure 8 is a block diagram of a manipulator control system.

Referring to the drawing the position pickups 15 of the translational motion modules 3, 5, 6, the position pickup 24 of the rotary motion module 4, the pickups 18, 25, 28 and the close-release switch 27 of the control handle 2 are connected to inputs of a com puter 30 whose outputs are connected to inputs of manipulator drives 31.

The operator controls manipulator movements by setting the control handle 2 (Figuxe 1) to a desired position.

As the control handle 2 is shifted vertically, use is made of the translational motion module 3 whose guides 7 move relative to the carriage 8. The singlearm lever 11 of the synchronizing assembly connected p to the carriage 8 by means of the pin 141 rotates with respect to the fastening element 12. The lever 11 acts on the pin 14 linked wita one separator 10, thus shifting it in the direction of movement of the guides 7.

Hense, there occurs simultaneous (syncbron'ous) move ment of the guides 7 and the separators10 w itt the balls 9 relative to the carriage 6. As -clae guides 7 move relative to the carriage 8, the position of the niovable contact 16 with respect to the pickup 15 chang he maC es. As a result, -itude of the signal deiived X -ishes from the pickur) 15 c-ianges. --he pick-up 15 furx.L a Signal Dr0portional to the displacement- Of -L,-.e guides 7 relative to the carriage B. The output siSnals of the pickup 1,5:i are applied to one of the inputs of the computer 30 (Figure 0- -rol handle 2 CFigure 1) is rotated As the cont relative to the vertical axis 23, the internal casing 19 of the rotary motion module -, -Warns relative to the axis 23. The position pickup 24 develops si-nals C the internal casing proportional to a relative turn oL. 19 with:!espect to the external oasing 20, said signals being fed to one of -lihe inputs of the computer 30 (Figure 8).

As the control handle 2 (2igure 1) is shifted horizontally in mutually perpendicular directions, cor,responding signals will be derived from the pickups 15 (Figure 5) of the translational motion modules 5 i f 11 1 and 6. The modules 5 and 6 operate in much the same manner as the module 3. As the control handle 2 (Figure 1) is swung relative to the axis 17, the pickup 18 furnishes a signal proportional to a relative turn of the control handle 2 with respect to the guides 7 of the translational motion module 3, said signal being fed to one of the inputs of the computer 30 (Figure 6). When the pickup 25 (Figure 1) is rotated relative to the axis 26, it develops an output signal proportional to the angle of turn of the pickup 25 relative to the axis 26. By turning on or off the switch 27 the operator controls the closing or opening of a manipulator grip (not shovm in the dravving). 5 Acting on the pickup 28 (Figure 1) the operator causes the generation of a signal controlling the manipulator speedg said signal being likewise applied to one of the inputs of the computer 30 (Figure 6). The computer 30 reoomputes the coordinates and Se- Lerates signals controlling movements of the manipulator &-iv-- 31. The rate of change of manipulator movements is determined by the magnitude of the signal derived from the pickup 28 designed to producd signals controlling the manipulator speed.

There may be different combinations of modules in the mechanism for shaping signals enabling manipulator movement depending on a manipulator mobility degree.

12 These modules operate similarly to the modules shown in Figure 1. So, the proposed manipulator control device permits changing the structure of a mecaanism for shaping signals enabling manipulator movement when a different number of manipulator mobility degrees is to be controlled. Signals derived from pos.Ltion -pickups of a mech.ism for shaping signals enabling manipulator movement are linear functions representative of a control handle position, a feature improving quality of control.

j 1 T 13

Claims (9)

  1. 0 1. A manipulator control device comprising a base, a control handle and a mechanism f or shaping signals enabling manipulator movement with position pickups, which is made up of successively connected modules whose number is equal to the number of manipulator mobility degrees to be controlled, the first module being operatively connected to the control handle, while the last module is connected to the base, each irodule mounting its position pickup.
  2. 2. A control device as claimed in Claim 1, wherein the successively connected modules of the mechanism for shaping sienals enabling manipulator movement represent a combination of translational and rotary motion 15 modules.
  3. 3. A control device as claimed in C 1, Y,,herein the successively connected modules of the mechen-46sm for shaping signals enabling manipu2a-loor movement represent a combination of translational motion modules.
  4. 4. A control device as claimed in Claims 1 through 3, in which each translational motion module of the successively connected modules comprises parallel guides, a carriage disposed in said guides and supported by balls installed in separators, and a synchronizing assembly formed with a single-arm lever operatively -or and to the connected to one guide, to one separat carriage.
    14 1 -
  5. 5. A control device as claimed in Claims 1 and 2. in which each rotary motion module of the successively connected modules comprises internal and external casings arranged concentrically and separated by a channel fil- led with balls.
  6. 6. A manipulator control device as claimed in Claims 1. 29 4 and 5, in which the first module of the successively connected modules is a translational motion module whose guides are operatively connected to the control handle. while its carriage is rigidly connected to the internal casing of the next rotary motion module having its external casing rigidly connected to the carriage of the subsequent translational motion module having its guides rigidly connected to the guides of the last translational motion. module whose carriage is rigidly connected to the base.
  7. 7. A manipulator control device as claimed in Claims 1. 3 and 4,_ in which the first module of the successively connected modules is a translational motion module whose guides are operatively connected to the control handle, while its carriage is rigidly connected to the carriage of the next translational motion module having Its guides rigidly connected to the guides of the last translational motion module whose carriage Is rigidly connected to the base.
  8. 8. A manipulator control device as claimed in Claims 19 2, 4 and 5 tiherein the first module of said successively connected modules in a 1 translational motion module whose guides are operatively connected to the control handle, while its carriage is rigidly connected to the intermal casing of the next rotary motion module having its external casing rigidly connected to the carriage of the last translational motion module whose guides are rigidly connected to the base.
  9. 9. A manipulator control device substantially as hereinabove described with reference tot and as shown in the accompanying drawings.
    0 Publish d 1991 at The Patent Office. State House, 66/71 High Holborn. London WCIR 4TP. Further copies may be obtained from "o Wes Branch. Unit 6. Nine Mile Point. Civinfelinfach. Cross Keys. Newport. NPI 7HZ. Printed by Multiplex techniques ltd. St Mary Cray. Kent.
GB9002114A 1990-01-31 1990-01-31 Modular manual control device for manipulators Withdrawn GB2240614A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB9002114A GB2240614A (en) 1990-01-31 1990-01-31 Modular manual control device for manipulators

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9002114A GB2240614A (en) 1990-01-31 1990-01-31 Modular manual control device for manipulators
DE19904004760 DE4004760A1 (en) 1990-01-31 1990-02-15 Setpoint generator of a manipulator

Publications (2)

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GB9002114D0 GB9002114D0 (en) 1990-03-28
GB2240614A true GB2240614A (en) 1991-08-07

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GB (1) GB2240614A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993018475A1 (en) * 1992-03-05 1993-09-16 Brad Alan Armstrong Six degrees of freedom controller with tactile feedback
GB2283081A (en) * 1993-08-24 1995-04-26 Integrated Control Technologie Joystick controls
WO1998025194A1 (en) * 1996-12-06 1998-06-11 Kvaerner Asa Steering and manoeuvering handle
DE10106850A1 (en) * 2001-02-14 2002-09-05 Moritz Muenchmeyer Computer control device analogous to a mouse or joystick, but for translation of 3-D movements into virtual 3-D movements on a computer screen, that is intuitive and easy to use
US6456778B2 (en) 1997-10-01 2002-09-24 Brad A. Armstrong Analog controls housed with electronic displays for video recorders and cameras
US8674932B2 (en) 1996-07-05 2014-03-18 Anascape, Ltd. Image controller
US9081426B2 (en) 1992-03-05 2015-07-14 Anascape, Ltd. Image controller

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19702972A1 (en) * 1997-01-28 1998-07-30 Pfaender Holger Robotic device for enhancing human strength

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993018475A1 (en) * 1992-03-05 1993-09-16 Brad Alan Armstrong Six degrees of freedom controller with tactile feedback
US9081426B2 (en) 1992-03-05 2015-07-14 Anascape, Ltd. Image controller
US5589828A (en) * 1992-03-05 1996-12-31 Armstrong; Brad A. 6 Degrees of freedom controller with capability of tactile feedback
GB2283081A (en) * 1993-08-24 1995-04-26 Integrated Control Technologie Joystick controls
US8674932B2 (en) 1996-07-05 2014-03-18 Anascape, Ltd. Image controller
WO1998025194A1 (en) * 1996-12-06 1998-06-11 Kvaerner Asa Steering and manoeuvering handle
US6456778B2 (en) 1997-10-01 2002-09-24 Brad A. Armstrong Analog controls housed with electronic displays for video recorders and cameras
DE10106850A1 (en) * 2001-02-14 2002-09-05 Moritz Muenchmeyer Computer control device analogous to a mouse or joystick, but for translation of 3-D movements into virtual 3-D movements on a computer screen, that is intuitive and easy to use

Also Published As

Publication number Publication date
DE4004760A1 (en) 1991-08-22
GB9002114D0 (en) 1990-03-28

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