SU636076A1 - Apparatus for position-wise control of manipulator robot - Google Patents

Description

The comparison point is connected to the first synchronization input, the second input of which is connected to the first output of the reversible counter, the first input of which is connected to the second output of the synchronization unit, and the second output to the third input of the memory block, the first output of the memory block connected to the second input of the reversible counter and the second output is with the second input of the extrapolator, the third input of which is connected to the third output of the synchronization unit.

The drawing shows a functional diagram of the device for positional control of the robot arm.

The functional diagram contains a comparison element, amplifier 2, drive 3, position sensor 4, comparison pulse element 5; extrapolator 6, key 7, setpoint adjuster 8 of the gripper position settings, memory block 9, reversible counter 10, synchronization block 11.

The device works as follows.

On the training ethane, the key 7 connects the setpoint adjuster 8 of the settings of the gripper positions, for example, a copier, to the summing input of the comparison element 1 of the corresponding degree of mobility. The up / down counter 10 is transferred by the signal from the AND block of synchronization to the summation mode.

In the learning mode from the synchronization unit 11, clock control pulses start to be received on the control channel from the control input of pulse comparison element 5. The information signal from the output of the position sensor 4 during the movement of the gripper (or copier) along the learning path is fed continuously to the information input of the element 5 and is read at the moments of arrival, the clock pulses. In the first 1 clock cycles, the position signals from the information output of the element 5 are successively input to the memory block 9 for each of the degrees of mobility, where they are recorded by the "write to signal" input to the control input of the memory block 9 from the synchronization block 11. The same signals The positions from the information output of the element 5 are fed to the information input of the block 6, where they are stored to form an extrapolation trajectory. At (n + 1) -th clock pulse, element 5 will make a comparison of the information signal from the sensor and the information signal generated by the extrapolator 6 according to the information signals received earlier on it. If the difference of these two signals in the module does not exceed a specified value, then from the logical output of the element 5 to the input of the synchronization unit 11 a signal will be received that determines the subsequent operation of the device. A reversal counter 10 to the control channel will receive a pulse from synchronization unit 11, which will trigger a unit into it. According to the control channel in extrapolator 6, the position information will be recorded on the (n + 1) cycle from the information output of element 5 for subsequent extrapolation of the trajectory. Ec .1 and on the next clock cycle the signal on the logical output of element 5 has not changed, the operation of the circuit will repeat, i.e. another unit is added to the reversible counter 10, and so on. The device will function as described until the signal changes.

on the logical output of the element.

Let at some step the result of comparing two signals at the inputs of element 5 be changed. This will cause a change in signal.

, at the input of the synchronization unit 11, the recording input signal is sent to the control input of the memory unit 9 via the control channel. The contents of the reversing counter 10 are overwritten in memory block 9, and there, as well as in the extrapolator 6, information about the position on a given clock cycle will be detected from the information output of the element 5. The reversible counter 10 is reset by a signal from the synchronization unit 11, arriving at the control input of the reversible counter 10. In case of overflow of the reversing counter 10

 the input of the synchronization unit II via the control channel will receive an overflow signal that will cause similar operations.

In the playback relay, the key 7 connects the output of the extrapolator 6 to the summing input of the comparison unit 1. The reversible counter 10 is switched to the subtraction mode via a control channel with a reverse signal from the synchronization unit 11. In the first playback cycle, by the read command received via the control channel from the synchronization unit 11, the N first points memorized when learning are copied to the extrapolator 6 from the memory unit 9. Block 6 forms a trajectory that is worked out over n cycles. On the nth tone and pulse from memory block 9 to block 6, the coordinate of the next point will be rewritten and in the reversible counter 10 the number of missed cycles —.than between adjacent memorized points. Extrapolator 6 will reproduce the trajectory of a given number of measures, i.e. before resetting the counter O, the content of which is decremented by 1 at each time step. Resetting the reversible counter 10 will cause a signal at the input of the synchronization unit 11, which will form

Claims (2)

The Q signal to access memory blocks 9 will provide a census of the coordinates of the next point from memory block 9 to block 6, and transfers the new number of extrapolation cycles in the training mode to a reversible counter 10. The invention improves the programming accuracy and significantly saves the time required to train or retrain an industrial robot manipulator operating, say, in the system of a fully or partially automated section. Apparatus for positional control of a robot arm comprising serially connected reference element, amplifier, drive and position sensor, the output of which is connected to the first input of the comparison element, and serially connected synchronization unit and memory block, characterized in that simplify the device, it contains a comparison pulse element, a reversible counter. the extrapolator and the serially connected setting unit of the gripper position and the key, the output of which is connected to the second input of the reference element, and the second input to the first output of the extrapolator, the second output of which, as well as the output of the position sensor, are respectively connected to the first and second pulsed inputs the comparison element, the third input of which is connected to the output of the synchronization unit, the first output of the comparison pulse element is connected to the first inputs of the memory unit and the extrapolator, the second output of the comparison pulse element It is connected to the first input of the synchronization unit, the second input of which is connected to the first output of the reversible counter, the first input of which is connected to the second output of the synchronization unit, and the second output to the third input of the memory unit, the perimeter output of the memory unit is connected to the second input of the reversible counter , and the second exit - with the second entrance of the extrapolator. the third input of which is connected to the third output of the synchronization unit. Sources of information taken into account during the examination: 1. US Patent No. 2988237, cl. 214-1, 10.12.64. 2. US patent jVg 3279624, cl. . 10/18/06.