SU639698A1 - Manipulator control method - Google Patents

Manipulator control method

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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
Application number
SU772517476A
Other languages
Russian (ru)
Inventor
Александр Борисович Кузьмин
Феликс Михайлович Кулаков
Original Assignee
Военный Инженерный Краснознаменный Институт Им.А.Ф.Можайского
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Военный Инженерный Краснознаменный Институт Им.А.Ф.Можайского filed Critical Военный Инженерный Краснознаменный Институт Им.А.Ф.Можайского
Priority to SU772517476A priority Critical patent/SU639698A1/en
Application granted granted Critical
Publication of SU639698A1 publication Critical patent/SU639698A1/en

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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)

Формула изобретени Invention Formula Способ управлени  манпнул тором, заключающийс  в том, что с помощью программного усгройстпа |}юрмируют закон движени  нрнводор. н поснронз.вол т его с помощью след щих систем, отличаюни Йс  тем, что, с целью обеспечени  неремеи;ени  одного свободного иредмета иееколькнмн манипул торами од1К)временно, формируют необходимый закон движени  и отрабатывают его всеми приводами манипул тора , имеющимис  в его кинематической цепи, при этом контролируют 15еличииу моме)1тов сопротивлений в шарнирах манипул тора и переключают программное устройство на режим компенсапии сопротивлений в приводах в том случае, если они оказываютс  вьине донустнмых.The control method of the torus is that the software uses the law of motion to compute the law of motion. It is possible to use it with the help of tracking systems, distinguished by the fact that, in order to ensure unpreparedness of one free iredmeta and several manipulators (1K) temporarily, they form the necessary law of motion and work it out with all the actuator drives, which are in its the circuits, at the same time, they control the resistance of 1t resistances in the joints of the manipulator and switch the software device to the mode of compensation of resistances in the drives in the event that they turn out to be ground. Источники информации, прин тые во внимание при экспертизе 1. Авторское свидетельство СССР №417270, кл. В 25J 9/00, 1972.Sources of information taken into account in the examination 1. USSR author's certificate №417270, cl. In 25J 9/00, 1972. // // TT f777// (pui TT f777 // (pui // YY
SU772517476A 1977-08-22 1977-08-22 Manipulator control method SU639698A1 (en)

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

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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)

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