SU748341A1 - Sensitized manipulator joint control system - Google Patents

Description

The invention relates to the field of manipulator construction and can be used to create control systems for manipulators. 5

Known control systems of the joint of the sensitive manipulator are known.

The system l, containing position sensors of the master and executive bodies, speed sensors of the master and executive bodies, adders, amplifiers and drives of the master and executive bodies, has a low position transfer accuracy and low speed. jj

The closest technical solution to this invention is a system 2 comprising a serially connected position sensor of the driver, a first scale-2o amplifier, a first correction unit and a driver of the driver body, connected in series by an actuator position sensor, a second large-scale amplifier, the second sum 25 tor , the second correction unit and actuator actuator, successively connected the speed sensor of the displaced circuit, the third large-scale amplifier and the third adder, the output JQ

CTg "JH; rL№l jnyJ M3 (Jll -;: E Ka; iiS 4if" f "4pK .- ,,.:

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which is connected to the second input of the first correction unit, subsequently connected to the speed sensor of the executive body, the fourth scale amplifier and the fourth adder, the second input of which is connected to the second output of the third scale amplifier, and the output to the second input of the second correction block, the second output of the first the scale amplifier is connected to the second input of the second adder, the second output of the second scale amplifier is connected to the second input of the first-adder, and the second output of the fourth scaler ilitel connected to the second input of the third adder.

The disadvantage of such a system is that it does not simultaneously provide good accuracy in both channels (positions and forces) and good STABILITY and quality of the entire system.,

The aim of the invention is to improve the dynamic characteristics of the system.

The essence of the invention lies in the fact that the system contains a GC accelerator in series .i - i -a5i; S -i Ssi S S ..

The AI of the master, the fifth scale amplifier and the fifth adder, successively connected the sensor of the executive organ, the sixth scale amplifier and the sixth adder, the moment sensor of the master organ, the seventh scale amplifier and the seventh adder, successively connected organ sensor, the eighth scale the amplifier and the eighth adder, the second input of which is connected to the second run of the seventh scale amplifier, and the output to the third input of the second correction block, Torah input of a fifth adder connected to a second output of scaling amplifier sixth and vy5so. with the third input of the first correction block, the second input of the sixth adder is connected to the second output of the fifth scale amplifier, and the output is connected to the fourth input of the second correction block, the second input of the seventh adder is connected to the second output of the eighth scale amplifier, and the output is connected to the fourth input of the first block correction.

The drawing shows a functional diagram of the system, which shows: 1 - sensor position of the setting body, 2 - speed sensor of the setting body, 3 - sensor acceleration of the setting body, 4 - sensor moment of the setting body, 5 - position sensor of the positive body, b - speed sensor actuator, 7 - acceleration sensor of the executive body, 8 - moment sensor of the executive body, 9, 10, 11, 12, 13, 14, 15, 16 - first, second, third / fourth, fifth, sixth, seventh And eighth scale amplifiers, respectively, 17, 18, 19, 20, 21,

22, 23, 24 — first, second, third, fourth, fifth, sixth, seventh. And eighth adders, respectively; 25 — driver of the setting body, 26 actuator of the actuator, 27 first correction block, 28 — second correction block.

The system works as follows. ,

The force of the operator, active or reactive, changes the resultant forces and moments acting on. links of the setting body, as a result of which their mutual positions of speed and acceleration change, which are exhausted by the corresponding sensors 9, 10, 11. The moment in the joint of the setting body is measured by the sensor 4. The load force, active or reactive, changes the resultant forces and moments acting on the links of the organ, and as a result, their relative position, speed, acceleration, which are measured according to 1 1: the speakers 5, 6, 7. The moment in the joint of the executive body is measured by the sensor 8. The signal sensors 1-8 are fed to the inputs of scale amplifiers 9-16, converted into two signals, one for the master, the other for the actuator, each

of which is converted into the appropriate form, multiplied by the scale-weight coefficient, corrected and fed from the corresponding outputs of the scale amplifiers 9.-16 per

adders 17-24. Transformed and

the corrected signals of the like sensors 1-8 of the master and the executive bodies coming out of the like outputs of the scale amplifiers 9-16 are compared with each other in adders 17-24, the signal differences are fed to the inputs of the correction blocks 27, 28, from the outputs of the blocks

Corrections 27, 28 arrive at the inputs of the actuators 25, 26, which work out these signals, creating at their outputs the corresponding moments, accelerations, speeds and positions of the SS link.

By virtue of the presence of feedbacks on position, velocity, acceleration, and moment, increase the static and dynamic accuracy of the manipulator control system.

Claims (1)

Invention Formula The control system of the joint of the sensitive manipulator, containing successively connected sensor position of the driver, first large-scale amplifier, first adder, first correction unit and actuator of the driver body, successively connected sensor of the actuator, second large amplifier, second adder, second a correction unit. and an actuator actuator connected in series by a speed sensor of the master, a third large-scale amplifier and a third adder, the output of which is connected to the second input of the first 1 LOCK of the correction, successively connected to the speed sensor of the executive body, the fourth large-scale amplifier and the Fourth Surmator, the second input of which is connected to the second output of the third large the amplifier, and the output to the second input of the second correction unit, the second output of the first large-scale amplifier is connected to the second input of the second the adder, the second output of the second large-scale amplifier is connected to the second input of the first adder, and the second output of the fourth large-scale amplifier is connected to the second input i third adder, distinguish