SU1355481A1 - Apparatus for controlling remote manipulator - Google Patents

Abstract

This invention relates to robotics and can be used to create remote manipulators. The aim of the invention is to improve the accuracy by eliminating the influence of the constant time of aperiodic blocks. To do this, a device containing serially connected master, blocks of nonlinear transducers, adders, integrators, as well as a drive unit connected to the executive body are additionally introduced in series a second block of adders and a logical differentiation unit whose output is connected to the first block of adders, and the inputs of the second block of adders are associated with the outputs of the master and the block of non-linear converters. 2 Il. oo ate ate N 00

Description

This invention relates to robotics and can be used to create remote manipulators.

The purpose of the invention is to improve the accuracy of the device by eliminating the influence of the constant time of aperiodic blocks.

FIG. 1 shows a functional diagram of the device; in fig. 2 - functional scheme of one adjustable coordinate.

The device diagram in FIG. 1 comprises a driver unit 1, a block 2 of non-linear converters, a first block 3 of an adder, a block 4 of integrators, a second block 5 of adders, a block 6 of differentiation, a block 7 of drives, an executive body 8 and an operator 9.

The circuit in FIG. 2 contains a nonlinear converter (block) 10, first and second adders 11 and 12, respectively, integrator 13, first and second threshold elements 14 and 15, respectively, key 16, EXCLUSIVE OR element 17, differentiator 18, logical differentiation element 19, actuator 20, joint 21 of the executive body and the output signals of the respective blocks.

The device works as follows.

The device can operate in two modes: pseudo-positional, which is a combination of two modes - positional and stop, and high-speed. The mode of operation is determined by the magnitude of the signal UBX, -, and in the pseudo-position mode it is also determined by the sign of the signal Ovx, - set by the operator 9 using the knob of the master organ 1. The transition from one mode to another is done automatically for each joint of the executive organ 8. In pseudopositional mode signals UBX; from the master knob (in this mode, the magnitudes of the signals Uj, are within the corresponding deadband ± Uo of block 2 of nonlinear converters) are fed through the second block 5 of adders to the block 6 of logical differentiation. If the signs of the signals are UBX, and yvh; in block 6, the signals Ovx, are fed through block 4 of integrators to block 7 of drives that cause the movement of the joints of the actuator 8 to angles proportional to the deviation of the setting body 1, If the signs Ovx, in block 6 are opposite to the signs UBX, then at the outputs of block 6, the signals are equal to zero, and in block 7 of the drives, signals are received from block 4 of integrators recorded there at the last time instant, i.e. the joints of the actuator 8 are in a fixed position with coordinates corresponding to the signals from block 4.

In the high-speed mode, the signals UBX, from the setting body 1 (in this mode, the magnitudes of the signals UBX; are outside the deadband i Uo) are fed through the first block 3 of adders to the block 4 of integrators, and from its output proportional to the high-speed movement of the joints of the executive body 8 are fed at

block 7.

The operation of the device is explained in more detail by the functional scheme of controlling one joint of the actuator 8 {Fig. 2).

Operator 9 acts (deflects, for example, to the right) on the driver, the signal UBX, which is proportional to this effect, is applied to block 10 and to the first input of summator 12.

If Uo, then the device works in pseudo-position mode.

UM U., O, where and 10 O, thus, Uii UBX.

The signal Uii is fed to the input of the threshold element 14 and to the input of the differentiator 18, Block 14 triggers and outputs to the first input of the element 17 a signal equal to a logical one. From block 18, the differentiated signal Uii is fed to the input of element 15 and to the information input

5 of key 16. Block 15 is triggered, since the sign of the signal Uig coincides with the sign of signal Uii (the operator has not changed the direction of influence on the specifying authority 1) and a signal equal to the logical one appears at the second input of element 17. In this way,

0 at the output of the element 17, a signal equal to the logical unit appears, the key 16 is triggered and the signal Ui8 Ovx through the key 16 is fed to the second in () d of the adder 11

Ul2 UlO + Ovh

The signal is integrated in block 13 and fed to the actuator 20, which moves the joint 21 by an angle proportional to the deviation of the driver 1. This is the positional control mode.

If operator 9 has changed the deviation of organ 1, then the signal Uis becomes of a different sign, therefore, a logical zero signal appears at the second input of element 17, the key 16 is opened. On integrator 13, the last currently known Ovx signal is memorized, the joint 21 of the executive organ remains stationary until the organ returns to its zero (initial) position and the operator 9 does not deflect it again to the right or left. This is the stop mode.

0 In the speed mode, the signal Ui2 Uio + nd „,

where 0 Oh, since Uii UBX-Uio; Uii 0; since ubx uio.

The signal and 12 is integrated in block 13. 5 Thus, the signal Ovx from operator 9 acting on driver body 1 is proportional to the speed of movement of the joint 21 of the actuator.

0

Thus, the transition from mode to mode is carried out automatically without additional commands on the signal level.

Claims (1)

Invention Formula A device for controlling a remote manipulator containing a series-connected master, a block of non-linear transducers, a first block of adders, a block of integrators, and a block with a composer E. Polio Editor M. PetrovaTekhred I. VeresKorrektor L. Pilipenko Order 5465/17 Circulation 952Subscription VNIIPI USSR State Committee on de.1am inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab. 4/5 Production and printing company, Uzhgorod, ul. Project, 4 Water, associated with the executive body, characterized in that, in order to improve the accuracy of the device, it contains serially connected second block of adders and logical differentiation block, the output of which is connected to the second input of the first block of adders, the first input of the second block of adders is connected to the output of the setting body, and the second input - with the output of the block of nonlinear transducers. Phie. one FIG. 2