SU639698A1 - Manipulator control method - Google Patents
Manipulator control methodInfo
- Publication number
- SU639698A1 SU639698A1 SU772517476A SU2517476A SU639698A1 SU 639698 A1 SU639698 A1 SU 639698A1 SU 772517476 A SU772517476 A SU 772517476A SU 2517476 A SU2517476 A SU 2517476A SU 639698 A1 SU639698 A1 SU 639698A1
- Authority
- SU
- USSR - Soviet Union
- Prior art keywords
- motion
- law
- control method
- resistances
- manipulator control
- Prior art date
Links
Description
го закона, схваты манипул торов движутс несогласованно, что приводит к но влению в нриводах обоих манинул торон посторонних моментов сопротнвлснп . В устройстве 5 эти моменты сравниваютс с предел1 но доп стнмымн н, если их величина нрепынгает допустимый уровень, то с устройства 5 подаетс снгиал на переключатель 6, который переводит систему и в первую очередь программное устройство на режим компепсацни опасных моментов до допустнмого уровн . После ликвпдаппп опасных моментов система продолжает отработку псленаправлепных движепий до нового но влени опасных моментов.of the law, the grips of the manipulators move inconsistently, which leads to the appearance of extraneous moments in srvodod both of them with tempo. In device 5, these moments are compared with the limit of 1 but additional, if their value snaps into an acceptable level, then from device 5, a switch is fed to switch 6, which transfers the system and, first of all, the software device to a compressed state of dangerous moments to an acceptable level. After liquefying dangerous moments, the system continues to work out pseudoplan-blind movements until a new point in dangerous moments.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU772517476A SU639698A1 (en) | 1977-08-22 | 1977-08-22 | Manipulator control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU772517476A SU639698A1 (en) | 1977-08-22 | 1977-08-22 | Manipulator control method |
Publications (1)
Publication Number | Publication Date |
---|---|
SU639698A1 true SU639698A1 (en) | 1978-12-30 |
Family
ID=20722094
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SU772517476A SU639698A1 (en) | 1977-08-22 | 1977-08-22 | Manipulator control method |
Country Status (1)
Country | Link |
---|---|
SU (1) | SU639698A1 (en) |
-
1977
- 1977-08-22 SU SU772517476A patent/SU639698A1/en active
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