SU824134A1 - Device for control of manipulator kinematic link - Google Patents

Description

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The invention relates to robotics and can be used to create manipulative robots.

There are known devices for controlling a kinematic link of a manipulator, comprising a program for setting programs 1m, a trace drive and an actuator 1.

Closest to the proposed technical solution is a device containing a program setting block and a drive associated with an actuator j2.

A disadvantage of the known device is the low accuracy of the horizontal orientation of the kinematic link of the manipulator, for example, gripper, as well as the need for providing the mode of the specified orientation of the block calculator.

The purpose of the invention is to simplify and improve the accuracy of the device.

The goal is achieved so that the device additionally contains a first analog-code converter and a serially connected position sensor of a second analog-code converter, a comparison unit, a reversible counter, a source code-analog generator and a controlled switch, the output of which is connected to the drive input, the second the input is to the first output of the program setting block, and the third input is to the second output of the program setting block and the input of the first analog-code converter, the output of which is connected to the input of the control unit and, wherein the position sensor unit

o mechanically connected with the executive. . mechanism.

The drawing shows the functional scheme of the device.

The circuit contains a block 1 task 5 program, controlled switch 2, the first converter 3 analog-code drive 4, the actuator 5, the sensor 6 position of the link, the second

Converter 7 analog-code block 8

0

control, reversible counter 9, converter 10 code-analog.

The device works as follows.

In software, management

5, the control signal from the program setting unit 1 and through the controlled switch 2 is fed to the actuator 4, which processes the specified signal and re-; bridging actuator, 5. 0 In the stabilization mode, the block 1 task

of the program generates a signal by which the control switch 2 connects the output of the converter 10 code-analog to the input of the drive 4. At the same time, from block 1, set the program through the first converter 3 analog code and control block 8, the initial setup signal is recorded in the reversing counter 9. When the link deviates the manipulator from the horizontal, the signals from the horizon sensor b, determining the magnitude and direction of the deviation of the link from the horizon, arrive at the input of the second converter 7 analog-code, which produces pulses of frequencies and which is determined by the magnitude of the deviation.

The generated pulses through the control unit 8 come from the counting input of the reversible counter 9.

The code obtained at the output of the reversing counter 9, proportional to the deviation of the link, is converted into an analog signal by means of the converter 10 a code analogue, which is fed through the controlled switch 2 to the input of the drive 4. The drive 4 processes the voltage applied to its output and drives Kinematic actuator. link.

The application of the invention allows to simplify the device and improve the accuracy of a given position, for example, the horizontal kinematic position of Even.

Claims (2)

1.Lndreenko S.N. and others. Designing actuators manipulators. L., Mechanical Engineering, 1975, p. 63-64. 2. Medvedev B.C. and others. Control systems for manipulative robots. M., Science, 1978, p. 28-31 (prototype).