SU885968A1 - Manipulator control device - Google Patents

Description

(54) AUTHORITY FOR MANAGING THE MANIPULATION

The invention relates to robotics and can be used to create control devices for remote manipulators.

Known devices for controlling the mashpultor. The device containing the master and the executive bodies with two-trace traces by IDA systems 1.

However, the device does not provide convenience to the operator at the extreme points of the working area of the manipulator.

The closest technical solution to the present invention is a device comprising a tachogenerator associated with the first selsyn, the output of which is connected through a series of first phase-sensitive receiver, the first adder, amplifier and tachometer connected to the engine inlet, the shaft of which is associated with the second selsyn forming with the first selsynsa selsyn pair 12.

In this device, the extension of the service area of the manipulator made on such tracking systems can only be achieved by mechanically turning the angle sensors on the driver side, which is very inconvenient for the operator. By introducing an additional signal to the input of the seri ous system, it is almost impossible to obtain a mismatch in the two-fold trace of the secondary systems without disturbing their stability.

The purpose of the invention is to improve the operational characteristics of the device.

The goal is achieved by the fact that

Claims (2)

10, the device contains a memory register, a reference signal source, a second adder and a series-connected pulse shaper, a first key, a reversible counter, a third adder, a second key and a second 5 phase-sensitive receiver, an output connected to the second input of the first adder, the first input of which is connected to the input of the pulse shaper, the first input of the second adder is connected to the output of the tachogenerator, the second input is connected to the output of the tachometer, and the output is connected to the second input of the first key, the second output of which is connected to the second input of the reversible counter memory register output is connected to the second input of the third adder and the second and third inputs of the second switch are respectively connected to first and second outputs, a reference signal source. The drawing shows the functional diagram of the device. The device contains a master body 1, the first gear 2, the second gear 3, the first selsyn 4, tachogenerator 5, the engine. 6, the third gear 7, the executive body 8, the second selsyn 9, the first adder 10, the first phase-sensitive rectifier 11, the second phase-sensitive rectifier 12, the source 13 of the reference signal, the first key 14, the second adder 15, reversible counter 16, register 17 memory ti, the second key 18, the pulse shaper 19, the third summator 20, the tachometer 21, the amplifier 22, biological protection 23. The device operates as follows. In the initial state, when the specifying Authority 1 and the executive authority 8 are matched, the reversible counter 16 and the register 17 of the type contain the same numbers equal to 2, where the counter size of the counter 16 and the register 17. At the same time, the second key 18 is in the neutral position and the input of the first adder 10 receives only the signal of the error of the first and second selsins 4 and 9, which is processed by the engine 6. Including, if the speed of the driver body 1 exceeds the maximum speed of the executive body 8, the input of the reversing counter 16 is formed ate 19 receives a pulse sequence of pulses occurring each time the error synchros 4 and 9 exceeds a certain level. In this case, the number contained in the reversible counter 16 will increase or decrease depending on the sign of the difference between the signals from the tachogenerator 5 and the tachometer 21. The very first pulse will trigger the second key 18 and from the source 13 of the reference signal through the first adder 10 and the amplifier 22 engine input 6 will receive a control signal. The phase of the control signal changes when the sign of the p number changes in the reversible counter 16 and the memory register 17. Under the action of this signal, the engine 6 fulfills the mismatch of the specifying and executing authorities 1 and 8. The circuit will come to the initial state when the numbers contained in the counter 16 and the register 17 are matched. 84 However, in the initial position, any mismatch between the master and the executive bodies can be set by changing the contents of the memory register 17. This will be inconsistent by an amount proportional to the integer number of revolutions of the selsyn, until a new equality of the contents of the reversible counter 16 and the memory register 17 is established. In the future, the executive body 8 will follow the defining authority 1 with a given mismatch. The application of the invention will allow, due to the mismatch between the executive and assigning authorities, to extend the manipulator servicing area and increase the convenience of the operator at the extreme points of the zone. An apparatus for controlling a manipulator comprising a tachogenerator associated with a first selsyn, the output of which is connected in series to a first phase sensitive sender, a first adder, an amplifier and a tachometer connected to the engine inlet, the shaft of which is connected to a second selsyn forming the first selsyn A selsyn pair, characterized in that, in order to improve the operational characteristics of the device, it comprises a memory register, a reference source, a second adder and a sequential connected pulse generator, first key, reversible counter, third adder, second key and second phase-sensitive rectifier, output connected to the second input of the first adder, the first input of which is connected to the input of the pulse former, the first input of the second adder is connected to the output of the tachogenerator, the second input - to the output of the tachometer, and the output to the second input of the first key, the second output of which is connected to the second input of the reversible counter, the output of the memory register is connected to the second input of the third sum matora, and the second and third inputs of the second key are connected respectively to the first and second outputs of the reference signal source. Sources of information taken into account in the examination 1. Authors svdedelstvo USSR № 433446, cl. G 05 B 11/01, 1975. 2. Vasiliev, D. V. and Filippov, G. S. [Foundations of the theory and calculation of the following systems. M., Gosenergoizdat, 1959, p. 269 (prototype).