SU1430936A1 - Remote manipulator control system - Google Patents

Description

The invention relates to the field of robotics and can be used to create manipulators operating in extreme environments.

The purpose of the invention is to increase the accuracy of the device by eliminating the static control system.

Fig, 1 shows a functional diagram of the device; Fig. 2 is a functional block diagram.

The device contains the master unit 1, the setting unit 2 control signals, the control signal conversion units 3, the first key 4, the first 5, the second 6 and the third 7 amplifiers, the first 8 and second 9 memory blocks, respectively, the first element NOT 10, X and Y in FIG. 1 denotes the input and output signals of the control signal conversion units 3.

The memory block consists of an integrator 11, a capacitor 12, resistors 13-15, a second 16, a third 17 and a fourth 18 keys, a second element NOT 19, a voltage divider 20, (and

If in FIG. 2, the potentials of the voltage divider 20 are indicated.

The device is working as follows.

The device operates in two modes: the mode with the maximum gain of the input signal K, and the mode with the minimum gain factor Cl. .

The memory units 8 and 9, which provide mnemonicity, work alternately in the tracking mode, or in the playback mode of the recorded signal,

In the tracking (Fig. 2) potential q, goes to the right shoulder of the divider 20. At the same time, the potential if is supplied to the left shoulder from the integrator 11 output. Then the potential of the middle point of the divider is determined by the expression

Cf, R, +

Kk + k, s

where r

13

R .- resistance correspond to 14

When the key 17 is closed, the potential of the midpoint is fed to the input of the integrator 11 through the resistor 13 and starts charging it until the potential cf is equal to zero, B

In this case, as follows from the previous expression

14

+ 1 R;

R

  ABOUT,

i.e.

 4-1

d

50

five

0

five

0

five

0

five

This withdrawal determines the so-called gain of the memory blocks 8 and 9, moreover, the potential C, has the opposite sign with respect to the potential cf, since besides the gain of the input signal, it is inverted

In the playback mode of the recorded signal, the key 17 disconnects the middle point of the divider 20 from the input of the integrator 11, and the key 18 from the key of the divider 20, the key 16 closes and supplies the potential from the output of the integrator 11 to one of the inputs of the amplifier 5,

When the system is operating with the input signal gain factor K, key 4 is in position A, memory block 8 is in tracking mode, memory block 9 is in playback mode of the recorded signal. The input signal X from the sensor of the setting body I through the Key 4 is fed to the corresponding input of the operational amplifier 5, where it is amplified K times and, the signal changes to the input of the executive body. At the same time, the amplifiers 6 and 7 receive the input signal X and signal from the output of the amplifier 5, Y,

With amplifiers 6 and 7, an algeraic summation of the input signals X and Y takes place, taking into account the gain factors of amplifiers 6 and 7, the output of amplifier 6 produces a signal + Y.

and at the output of amplifier 7, the signal K, X + Y, Perv of them enters memory block 8, in which the signal accumulates

(Y +) (---}.

1 1 where g- - block gain factor 8

lt

memory

The second signal enters memory block 9.

and the moment of switching on the system, the voltage at the output of the integrator 1 1 block

9 is equal to zero, therefore, from the output of block 9, memory is signal to amplifier 5.

When switching to the operation mode with the gain factor A, it becomes 1 position B, the memory block 8 goes into playback mode, i.e. recorded at the time of switching the key 4 signal in memory block 8

(Y +) (-), enters the input

 one

amplifier 5, where it is summed by the signal that came from the master unit sensor (-KjX) and gives the output value

(Y + K., X) (-) (- K,) + () Y –K, X,

 Thus, when switching from one job to another, the output variable Y is gradually varied and the device starts operating with a gain factor K ,.

Such a system without any additional transforming devices can be used for controlling, for example, an orthogonal manipulator from a geometrically similar master body.

FIG. I

Claims (2)

1. DEVICE FOR CONTROL OF A REMOTE MANIPULATOR, containing a master and a control signal setter, characterized in that, in order to increase the accuracy of the device, it contains an element NOT for each controlled coordinate, connected in series with • the first key, the first amplifier, the second amplifier and the first a memory unit, as well as a third amplifier and a second memory unit connected in series, the second input of which is connected to the output of the element NOT, and the output to the second output of the first key and the second input of the first amplifier, with a single output with the first input of the third amplifier and the corresponding output of the device, the output of the control signal setter is connected to the input of each element NOT, the first input of each first key and the second input of each first memory block, the output of which is connected to the first input of the first amplifier, the second inputs of each first key and the second and third amplifiers are connected to the corresponding output of the master. 2. The device according to p. ^ Characterized in that each _ memory block contains a second key and S are serially connected to a second element NOT, a third key, an integrator, a fourth key and a voltage divider, the second input of which is connected to the first input of the memory block, and the output is to the second input of the third key, the second input of the memory block is connected to the input of the second element NOT, the second input of the fourth key and the first input of the second key connected by the second input to the output of the integrator, and the output to the output of the memory block.