SU1386445A1 - Apparatus for remote control of manipulator - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create remote manipulators. The aim of the invention is to increase accuracy and speed. For this purpose, the control signal adjuster is implemented in the form of two two-coordinate knobs with two position sensors, which are connected to the actuators of the longitudinal, transverse and vertical movements of the actuator through summing amplifiers. of the organ of the manipulator. The device provides mnemonic control of the displacement of the executive organ of the manipulator according to the image of its projections on the screens of the monitors. 1 il.

Description

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

The aim of the invention is to improve the accuracy and speed of the device by providing a mnemonic control or moving the actuator through the image of its projections on the monitor screens. ten

The drawing shows the functional diagram of the device.

The device diagram shows the control signal adjuster 1, the first and second handles 2 and 3 of the control 15 NIN, respectively, item 4, the first to the fourth position sensors 5–8, respectively, the first to the third amplifiers 9–11, respectively. however, the drives 12–14 are longitudinal, across 20 pepper and vertical displacements, executive body 15, Vizizry 16, monitors 17, X, Y, Z, Y, A, Y, Z2 axes.

The device works as follows 25 times.

The operator during the operation sees on the screen of each of the monitors 17 an image of the positioned object 4, which is projected on the axis 30 of the sights 16. The conditions of the manipulator dictate the location of the sights 16 in such a way that their optical axes X and X coincide with the direction of movement of the executive body 15 The axes of intersection of the optical rays define the visibility zone of the object to be positioned 4 on the screens of the monitors 17, and the intersection point of the optical rays 40 is marked on the screens of the monitors 17 as a cross It also determines the point of space to which the positionable object 4 is to be output. Thus, on the screens of each of the d monitors 17, the positioned object 4 can be moved along the two coordinates Y., Z or YJ, Z, and the image of the positioned object 4 overlaps on both monitors 17 indicates its installation at a given point in space,

In the general case, the image of the item being positioned 4 on the screens of the monitors 17 occupies an arbitrary position that does not coincide with the center of the screen, and the operator with the help of setting 1 control signals generates such effects as to compensate for

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1 control signals (gals contain two two-coordinate handles 2 and 3, which allow the operator to shift them from the initial position to any point of the working area, and two sensors 5, 6 or 7.8. Offset of the handle 2 and 3 of the mnemonic control leads to corresponding rotation of the mutually perpendicular axes proportional to the projections of the displacement vector pyco fo

2 and 3 mnemonic controls for each coordinate axis. Since the sensors 5.6 or 7.8 are rigidly connected to the mutually perpendicular axes of the two-coordinate handles 2 or 3,

then, when they are displaced at the output of the sensors 5,6 or 7,8, control signals are formed, which are proportional to the projections of the displacement vector on the corresponding coordinate axes. Since on the monitor screens 17 the image of the object to be positioned 4 relative to the center of the screen is a pointing error, the vector of which can be projected on the coordinate axis Z ,, Y and Z 2, YJ, the operator using two-coordinate handles 2 and 3 forms control signals to compensate for this error by shifting the handles 2 and 3 in accordance with the magnitudes and Directions of the error vectors on the respective monitors 17. So, for example, if the images of the object being positioned 4 on the monitor screens 17, In the form of points А-t and А., are located, the operator handle 2 deflects to himself and to the left, and handle 3 to himself and to the right. At the same time, on two-shka of sensors 5, 6 and 7, 8, control signals appear that are proportional to the projections of the movement of the handles 2 and 3 on the Z, Y and Zj axes, respectively. The control signals are then fed to the scale-sum amplifiers 9-11, which produce the solution of the corresponding vector equation.

Claims (1)

Invention Formula A device for controlling a remote manipulator containing a master of control signals, three amplifiers, the outputs of which are connected respectively to the input of drives of longitudinal, transverse and vertical movements of the actuator. characterized in that, in order to predict precision and speed, the control signal adjuster is made in the form of two two-coordinate handles with two position sensors each, the output of the first position sensor being connected to the first input of the first and third amplifiers, the output of the second position sensor nor connected to the second input of the first. and the third amplifier and the first input of the second amplifier, the output of the third position sensor is connected to the third input of the first and third amplifiers, and the output of the fourth position sensor is connected to the fourth input of the first and third amplifiers and the second input of the second amplifier.