SU1179270A1 - Device for controliing adaptive robot - Google Patents

Description

The invention relates to the field of robotics and can be used to create robotic systems operating in an environment with limited visibility.

The purpose of the invention is to simplify the device by simplifying the algorithm of the computing unit.

FIG. 1 shows the general scheme of the device for controlling an adaptive robot; FIG. 2 is a diagram of a multi-dimensional shift register; in fig. 3 is a diagram of the circuit setting block; FIG. 4 is a multistable trigger circuit; in fig. 5 is a block diagram of the executive devices; in Fig. 6, the sensor circuit changes, position; in fig. 7 is a diagram of the return unit.

FIG. 1 - 7 are designated: tactile sensor 1, multidimensional shift register 2, target setting unit 3, key elements 4, computing unit 5, first elements OR 6, first elements AND 7, multistable trigger 8, block 9 of drives, position 10 , block 11 return to the previous position, logical blocks 12, second elements And 13, second elements OR 14, first triggers 15, reversible counters 16, decoder 17, third elements And 18, third element OR 19, fourth elements And-20, fourth elements OR 21, amplifiers 22, motors 23, sensors 24, married, differentiators 25, entili 26, NOT elements 27, 28 usiliteliformirovateli, fifth OR gate 29, generator 30, the second flip-flops 31, the fifth AND gates 32, a third flip-flop 33.

The device works as follows

¹ At the moment of the device start-up (at the moment of power supply), a short-term single signal is formed at the second output of the position changing unit 10. On the remaining outputs of block 10, zero signals are present, as a result of which all digits of register 2 go to zero state. In addition, the signal from the second block 10 enters the corresponding input of the computing unit 5 and passes further to the inverse inputs of the And 7 elements of all the key elements 4 of the block 5. As a result, the operation of all the key elements 4 is blocked. In the same time

The target setting unit 3, which stores information about the relative coordinates of the target position of the manipulator, generates a single signal at its corresponding code, which goes to the corresponding input of the computing unit 5 and passes further to the input of the OR element 6 of the corresponding key element 4 of the block 5. As a result, at the end of the unit the signal on the second code block 10 changes the position of the key element 4 becomes a generator of the excitation signal, which passes through the elements OR 6 and 7 and goes to one of the first passages each adjacent to this key element 4. Spreading thereby on key elements of the computing unit 4, 5, excitation - signal appears at the inputs of the key element 4, which models the current position of the manipulator. The first to one of the inputs of this key element 4 is a signal coming through the shortest path from the generating key element 4. Signals received at the inputs of the key element 4, which simulates the current position of the manipulator, go to the outputs of the computing unit 5 and further to the inputs of the multistable trigger 8. Using the trigger 8, the first of the signals that appear on the codes of block 5 is fixed, which determines the first step of the shortest path of the manipulator to the target. The signals from the multistable trigger 8 are transmitted to the inputs of the actuator block 9, which processes the selected elementary step of the manipulator movement to the target. Multistable trigger state

8 persists until block

9 will not work out the selected step of the motion of the manipulator.

* Upon completion of working out an elementary step of movement on one of the first outputs of the position changing unit 10, a single signal is generated informing about the direction of change of the position of the manipulator, which goes to the corresponding inputs of the target task unit 3, register 2 and return unit 11 to the previous position. After that, in the second code of block 10, a short-term single signal is formed, post3

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packings to the corresponding inputs of blocks 2,3 and 11. As a result, information is shifted in register 2. in the direction opposite to the direction of change of the position of the manipulator. 5 The latter corresponds to the shift of the manipulator's working environment model relative to the key element 4, whose inputs are connected to the outputs of block 5, so that this key element 4 again simulates the current position of the manipulator. In addition, the recording of information about the worked up motion step in block 11 is carried out, as well as the change of 15 relative coordinates of the target position in block 3 in accordance with the change in the current position of the manipulator. As a result, a single signal appears at the corresponding new 20 output of block 3 and highlights the key element 4 of block 5, corresponding to the new relative coordinates of the target position. At the same time, a short-term single signal from the second 25 output of block 10 enters the corresponding inputs of elements And 7 of all key elements 4 of block 5 and blocks them. Thus, the previous excitation of the key elements 4 of the computing unit 5 is blocked. The multistable trigger 8 comes to the initial zero state. After the end of a single signal at the second output of block 10, position _35, all of these operations are repeated until the manipulator reaches the target position. At the same time, on all outputs of the block 3 for setting goals there are zero signals, as a result of which _{4 the} excitation signal of the key elements 4 is not generated in the computing block 5 and the manipulator is in a stationary state.

. If during the transition of the manipulator 45 from the previous position to the new, contact with an obstacle occurs, then at the output of tactile sensor 1, a signal is generated that sets the selected register register 50 2 into one state, as well as the triggering unit 11 to return to the previous position, which . This previously stored information, the previous step of the movement, forms 55 signals arriving at the corresponding inputs of block 9 and returning the manipulator to the previous position. Upon completion of the testing of the elementary return step, the position changing unit 10 is triggered. At the corresponding first output of which a single signal appears, arriving at the corresponding inputs of blocks 2 and 3. The signal at the second output of block 10 stops the operation of block 11, and also shifts the information in register 2 in the corresponding direction and change the relative coordinates of the target position of the manipulator in block 3. In addition, a single signal on. the second output of block 10 blocks And 7 elements of all key elements 4 of block 5. After it finishes, the procedure of selecting the next step of the manipulator’s movement to the target and its working out is resumed, but under the condition that key element 4, which simulates the obstacle positions, is blocked the output signal of the corresponding discharge register 2, which is fed to the corresponding input of this key element 4, passes to the inverse input of the element And 7 key element 4 and blocks it. In this case, the trajectory of the manipulator movement to the target modeled in the computing unit 5 is no longer passing through the locked key element 4, therefore the manipulator no longer falls into the forbidden position. After some time of operation as a result of contact of the manipulator with obstacles, register 2 will accumulate information about the prohibited positions of the manipulator, i.e. about such positions of the manipulator in which it has common points with obstacles. After that, the manipulator will function in this working environment without contact with obstacles, i.e. the control unit adapts to the situation in the working environment. Changing the situation, for example, if the manipulator is mounted on a mobile carriage moving in space, requires new adaptations.

Since the tactile sensor 1 is used to collect information about the external environment (i.e., the robot feels like a working environment), the proposed device can be used to control the manipulator in the environment.

five

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with limited visibility, for example underwater conditions.

Multidimensional shift register 2 works as follows. _five

A single signal arriving at one of the first inputs of register 2 from the corresponding first output of unit Yu passes to the input of the corresponding element I 13 of each block, about 12 register 2, to the second input of which a signal comes from the corresponding input of the discharge connected to the output of the corresponding neighboring block 12 register 2. The signals from the outputs of the elements And 13 through the element OR 14 is fed to the input of the trigger 15.

As a result, the signal at the corresponding input of the register 2, coming from the second output of the sensor 10 and passing through ₂ 0 to the inputs of the flip-flops 15 of all blocks 12, in the register 2 is shifting information in the corresponding direction. If, on all the first inputs of register 2, zero signals are present, then the trigger 15 of all blocks 12 of register 2 goes to the zero state, as a result, the outputs of register 2 will also be. zero signals are present. . A single signal arriving at the corresponding input of register 2 from tactile sensor 1 passes to the input of trigger 15 of a dedicated unit 12 of register 2, which simulates the current position of the manipulator, and sets it to one. Thus, there is an accumulation of information in ^; register 2. '

Unit 3 setting goals works as follows. Before starting the operation of the apparatus in a state of reversible counter 16 are entered coordinates of the target position of the manipulator, taken relative to the current (initial Foot ⁴⁵⁾ of the manipulator position. The state of the counters 16 is decoded with the help of the decoder 17, which generates a single signal at one of its outputs, coming further to ⁵ θ the corresponding output of block 3, Uni-. A personal signal arriving at one of the first inputs of block 3 from the corresponding first output of block 10 passes to the control input of the corresponding 55 'counter 16, a short-term signal that arrives at the second input of block 3 from the second

output of block 10, passes to the counting tails of all counters Ί6. As a result, a code of new relative coordinates of the target position of the manipulator is formed in the counters, which is decoded by the decoder 17, at the corresponding output of which a single signal is generated. If all the counters 16 are in the zero state, then all outputs of the decoder 17 and block 3, respectively, will have zero signals, which means that the coordinates of the current position of the manipulator coincide with the coordinates of the target position, that is, the manipulator has reached the target.

Multistable trigger 8 works as follows. In the initial state at the inputs of the trigger there are zero signals, blocking elements And 18. The zero signals from the output of each of the elements And 18 arrive at the inverse inputs of the remaining elements And 18 and prepare them to trigger. Therefore, with the arrival of the first single signal at one of the inputs of trigger 8, a single signal appears at the output of the corresponding element And 18, which arrives at the corresponding output of the trigger 8, In addition, the single signal at the output of this element And 18 blocks all other elements of And 18. Therefore Subsequent signals that came through the other inputs of trigger 8 do not change its state. If zero signals are generated at all inputs of trigger 8, then all elements of And 18 will go to the zero state and zero signals will also appear at the outputs of trigger 8. After that, the trigger 8 is ready for a new act of fixing the first signal received at its input.

Block 9drives works as follows. The motion control signals of the manipulator, entering the inputs of block 9 from the outputs of block 8, pass through elements 20, if a zero signal is present at the output of the element OR 19, then through the element OR 21, amplified by amplifiers 22 and fed to the control windings of the motors 23.

As a result, the shafts of the engines 23 are rotated, which is transmitted to the inputs of the respective streams7

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sensor 24, the outputs of which are connected to the outputs of block 9. If one of the inputs of block 9 connected to the outputs of block 11 return, receives a single signal, it passes through the element OR 19 and blocks the elements And 20. As a result, the motion control signals are blocked The manipulator arriving <from the block 8. At the same time, the signals from the block 11 pass through the elements OR 21, are amplified by the amplifiers 22 and arrive at the control windings of the motors 23. Thus, the manipulator’s return step to the previous position is tested the The rotation of the shafts of the motors 23 is transmitted to the potentiometric sensors 24, the signals from the outputs of which are fed to the outputs of block 9.

Unit 10 changes the position works as follows. When the potential changes on one of the inputs of block 10, a pulse of corresponding polarity is formed at the output of the corresponding differentiator 25, which passes through one of the corresponding pair of valves 26, the first of which passes pulses of negative polarity and the second positive. If at the output of differentiator 25 a pulse of negative polarity has been formed, it passes through the first valve of the corresponding pair of valves 26 and is inverted into a pulse of positive polarity using the corresponding element HE 27, The pulses from the outputs of the HE element 21 and the valves 26 transmitting positive pulses go to the inputs amplifiers-shaper 28, forming at its output a single signal of the required amplitude and duration of the arrival

positive impulse to their input. Thus, at one of the first outputs of block 10, a single signal is generated that determines the direction of the pitch of the manipulator position. At the same time, a single signal from the output of the corresponding amplifier 28 passes through the OR element 29 and is fed to the input of the imaging unit 30, which generates at its output a short-term single signal that arrives at the second output of the position changing unit 10. In addition, the imaging unit 30 generates a short-term single signal at its output at the time of applying power to the position changing unit 10.

Unit 11 return to the previous position works as follows. Signals arriving at the inputs of block 11 from the first outputs of block 10 are passed to the inputs of the corresponding triggers 31. Therefore, with the arrival of a short pulse from the second output of block 10 entering the inputs of triggers 31, the key to change the position of the manipulator is recorded in the state of triggers 31. In addition, the signal at the corresponding input of the block 11, coming from the second output of the block 10, the trigger 33 is set to the · zero state. If the manipulator collides with an obstacle, then a single signal at the output of tactile sensor 1 is fed to the corresponding input of block 11 and sets trigger 33 to one state. The single signal from trigger trigger output 31 goes to outputs of block 11. Due to the skew of the link between triggers 31 and elements 32 at the outputs of block 11 a code is generated; Board of movement of the manipulator, reverse-recorded in triggers 31.

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Claims (5)

1. A DEVICE FOR CONTROLLING AN ADAPTIVE ROBOT, containing a series-connected target setting unit, a computing unit, a multistable trigger, a drive unit, a position changing unit and a return unit to the previous position, the first inputs of which are connected to the first inputs of the target setting unit, the second input to the corresponding the inputs of the computing unit and the target setting unit and the corresponding output of the position changing unit, the third input to the output of the tactile sensor, and the outputs to the second inputs of the drive unit, characterized by o, in order to simplify the device, it comprises a multi-dimensional shift register, the first and second inputs of which are connected to respective outputs of the unit changes position, the third input - to yield a tactile sensor, and outputs - a third computational unit inputs. 2. The device according to claim 1, which is based on the fact that the computing unit contains the first, second and third key elements, the inputs of each of which are connected to the corresponding inputs of the computing unit, the fourth inputs with the outputs of the adjacent key elements, and the output with the corresponding output of the computing unit. 3. The device according to p. ^ Characterized in that the multidimensional shift register contains bit blocks, the first, second and third inputs of each of which are connected with the corresponding inputs of the multidimensional shift register, the fourth inputs with the outputs of the adjacent bit blocks, and the output with the corresponding ι § output of the multidimensional shift register. 4. The device according to claim 2, which is based on the fact that each key element contains the first OR elements connected in series and the AND element, the second and third inputs of which are connected to the corresponding inputs of the key element connected by the first and fourth inputs- mi with the inputs of the first element OR,. and exits - with the release of the first element I. 5. The device according to claim 3, which is based on the fact that each bit unit contains the second elements AND the serially connected second element OR and the trigger, the second and third inputs and the output of which are connected to the corresponding inputs and output of the bit unit connected the first inputs with the corresponding inputs of the second elements And, the second inputs of which are connected to the outputs of the adjacent bit units, and the outputs to the corresponding inputs of the second element OR, 1179270 one 1179270 2