JPH045388U - - Google Patents
Info
- Publication number
- JPH045388U JPH045388U JP4663890U JP4663890U JPH045388U JP H045388 U JPH045388 U JP H045388U JP 4663890 U JP4663890 U JP 4663890U JP 4663890 U JP4663890 U JP 4663890U JP H045388 U JPH045388 U JP H045388U
- Authority
- JP
- Japan
- Prior art keywords
- control
- fingers
- arm
- arms
- manipulator
- 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.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 4
Description
第１図は、本考案の実施例に係るマニピユレー
タ制御系のブロツク図、第２図は、マニピユレー
タによる作業例と腕と指の使い分けを示す図、第
３図は、本考案の他の実施例に係るマニピユレー
タ制御系のブロツク図、第４図は、マニピユレー
タのサーボ系を示す図、第５図は、従来のマニピ
ユレータ制御系を示すブロツク図である。
図中、１は腕マニピユレータ、２は指マニピユ
レータ、３はロボツト本体、１０は腕・指兼用サ
ーボアンプ、１１は腕用サーボアンプ、１２は指
用サーボアンプ、２１は切り換え器、３０は切り
換え信号、３１，３２は制御装置、４０は作業対
象物。
Fig. 1 is a block diagram of a manipulator control system according to an embodiment of the present invention, Fig. 2 is a diagram showing an example of work by the manipulator and how arms and fingers are used properly, and Fig. 3 is another embodiment of the present invention. FIG. 4 is a block diagram showing a servo system of the manipulator, and FIG. 5 is a block diagram showing a conventional manipulator control system. In the figure, 1 is an arm manipulator, 2 is a finger manipulator, 3 is a robot body, 10 is a servo amplifier for both arms and fingers, 11 is a servo amplifier for arms, 12 is a servo amplifier for fingers, 21 is a switch, and 30 is a switching signal. , 31 and 32 are control devices, and 40 is a work object.
Claims (1)
する制御部にて自動あるいは自律制御を行なうマ
ニピユレータの制御装置において、 上記腕と指の制御部を共用し、 上記腕の制御及び指の制御のいずれかを切換え
て上記腕又は指を制御部に接続する切換え手段を
備えたことを特徴とする腕と指を持つマニピユレ
ータの制御装置。[Scope of Claim for Utility Model Registration] A control device for a manipulator that has an arm and fingers at the tips of the arms and that performs automatic or autonomous control using a control unit that controls the arms and fingers, in which the control units for the arms and fingers are shared. A control device for a manipulator having an arm and fingers, comprising a switching means for switching between control of the arm and control of the fingers to connect the arm or the finger to a control section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4663890U JPH045388U (en) | 1990-05-02 | 1990-05-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4663890U JPH045388U (en) | 1990-05-02 | 1990-05-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH045388U true JPH045388U (en) | 1992-01-17 |
Family
ID=31561891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4663890U Pending JPH045388U (en) | 1990-05-02 | 1990-05-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH045388U (en) |
-
1990
- 1990-05-02 JP JP4663890U patent/JPH045388U/ja active Pending
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