SU1565680A1 - Setting device for controlling robot-manipulator - Google Patents

Abstract

This invention relates to robotics. The aim of the invention is to simplify the design and improve ease of use. For this, the device contains pivotally connected links 1 and 2 mounted on the base 3. Link 1 is made in the form of a direction indicator, for example, an arrow. In the hinges of the links, potentiometric sensors of angles of relative rotation of links are installed, and based on 3, the potentiometric unit of speed 13 of movement of the gripper 9 of the robot arm 10. With a corresponding orientation of the arrow 1 in space, the signals of the angle sensors enter the computer 14, which also receives the specified speed signal displacements from the setting device 13. According to these signals, the computer 14 generates the appropriate control commands to the drives 15 of the robot manipulator 10 to move its gripper 9 according to a predetermined vector 11 s of the required bark 2 Il.

Description

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The invention relates to robotics and can be used as a means for semi-automatic control of objects having several degrees of mobility, for example, robot manipulators.

The purpose of the invention is to simplify the design and improve ease of use.

FIG. 1 shows the driver of the sensors 5 and 7, the direction of the desired movement is calculated. Based on the sensor 13 readings, the speed of movement is determined in a given direction and, at a known program runtime, the grab movement in the Cartesian system to the yards, associated with the base of the manipulator, is calculated (displacements AH, AY, AZ are calculated).

In step III based on sensor readings

roystvo, general view; in fig. 2 - the function K-16 determines the angular positions of the links; the national control circuit is a manipulator; nipul torus. Then, the right ordering of the kinematics is solved, i.e. the position of the handle gripper in the Cartesian system is determined from the readings of the sensors 16

for example, arrows, and the hinged-connected g coordinates associated with the base of the manipulator with link 2, which in turn is torus (defined by X, Y, Z). pivotally connected to the base 3. In step IV, the desired

The link (arrow) 1 rotates around the position of the tong in the Cartesian system

coordinates associated with the base of the manipulator (,, Z

meter), fixed in the link 2, and the mon- 20 Z + AZ). In the event that the setpoint gauge is varied between 0-360 °. The link of growth 13 is in the initial position (zero speed), the desired values do not change.

In step V, it is solved inversely for free.

The driver contains link 1, made in the form of a direction indicator,

The rotation axis of the arrow 1 is measured by the sensor 5 (the potential 2 rotates around the vertical axis 6. Its angle of rotation is measured by the sensor 7 (potentiometer) and can also vary from 0 to 360 °. The sensor 7 is fixed kinematics, t the desired values

., „,., .. С -Э / V V V l“ “l. pl

flax based on 3. Axes 4 and 6 intersect at point 8.

The driver can be used for semi-automatic control of the gripper 9 of the robot arm 10

the positions of the gripper (X, Y, Z) are determined by the corresponding values of the angles in the joints of the manipulator.

In step VI, control actions are generated on the actuator actuators 15,

when moving the gripper on the vector 11, which correspond to the mismatch between

for example, to grip an object 12. The magnitude of the speed of movement is set by a potentiometer 13 mounted on the base. Potentiometers 5, 7, and 13 are electrically connected to a computer 14, the output of which is electrically connected to the actuators (drives) 15 of the rotompulator 10, in the joints of which sensors 16 are installed, connected to the input of the computer 14.

The driver operates as follows.

Suppose that the gripper 9 needs to be moved in the direction of vector 11. To do this, the operator first orients the arrow 1 in the direction parallel to the desired values of the angles in the hinges

the manipulator obtained in step V, and the angles read from the sensors 16.

Thus, the gripper 9 is displaced in accordance with the direction given by the arrow 1 and the speed set by the setting unit 13.

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Claims (1)

Invention Formula A master device for controlling a robotic arm containing a base, articulated links, the first of which is articulated on the base, and the axis of rotation / media of the desired movement (along the vector of 45 CATs взаим OUT mutually perpendicular between by themselves and located respectively in the vertical plane for the first link and in the horizontal plane for the subsequent links, potentiometric sensors of the angle of relative rotation of the links, 50 installed in each of the hinges,  ;), and then removing the potentiometer 13 (speed adjuster) from the initial position sets the speed of movement, 1 t in the given direction. By returning the potentiometer 13 to the initial position, the operator stops the movement of the chain torch. When the arrow rotates around the axes 4 and 6, the sensors 5 and 7 rotate, information from which about the position of the arrow 1 h space enters the computer 14, when it works, but it works in the following algorithm. In tag I, the readings from sensors 5, 7 and 13 are entered. In step II from the indications Sensors 5 and 7 calculate the direction of the desired movement. Based on the sensor 13 readings, the speed of movement is determined in a given direction and, at a known program runtime, the grab movement in the Cartesian system to the yards, associated with the base of the manipulator, is calculated (displacements AH, AY, AZ are calculated). In step III based on sensor readings kinematics, i.e. desired values / V v v l «« l. pl the positions of the gripper (X, Y, Z) are determined by the corresponding values of the angles in the joints of the manipulator. In step VI, control actions are generated on the actuator actuators 15, desired angles in the hinges the manipulator obtained in step V, and the angles read from the sensors 16. Thus, the gripper 9 is moved in accordance with the direction set by arrow 1 and the speed set by setpoint 13. Invention Formula A master device for controlling a robotic arm containing a base, articulated links, the first of which is articulated on the base, and the axis of rotation CAT ° LOVE mutually perpendicular between by themselves and located respectively in the vertical plane for the first link and in the horizontal plane for the subsequent links, potentiometric sensors of the angle of relative rotation of the links installed in each of the hinges, Movement speed adjuster, characterized in that, in order to simplify the construction and increase the convenience of operation, it contains two series-connected links, the second of which is designed as a direction indicator, while the motion speed adjuster is installed on the base. Phie.1