SU729545A1 - Manipulator control system - Google Patents

Description

The invention relates to robotics and can be used to create highly accurate and compact manipulator control systems. A known control system for a manipulator, comprising force sensors of a driver, and an astatic control unit connected in series, a servo drive unit and force sensors of the actuator 1. However, such a system does not allow the operator to dispense efforts developed by the executive body. The closest to the proposed invention is a control system for a manipulator containing sensors of the moment of the driver, serially connected astatic controls, actuators of the actuator, sensors of the actuator and computing unit, the second inputs of which are connected to the outputs of the moment of the driver, and the first exits - with the corresponding inputs of the static control unit 2. This system allows to measure the efforts developed by the executive body. However, such a system does not possess the property of active reflection of the efforts of the executive body, which limits the range of operations performed by the manipulator, and effectively works only with high-quality visual feedback. The purpose of the invention is to expand the scope of the system. This is achieved by the fact that the system contains a series-connected adder, a driver unit of the driver, and a coordinate conversion unit, the outputs of which are connected to the first inputs of the adder, the second inputs of which are connected to the corresponding outputs of the computing unit. The drawing shows a functional diagram of the control system of the manipulator. It contains the master body, the torque body sensors 2, the master body drive unit 3, the computing unit 4, the static control unit 5, the executive body drive unit 6, the executive body torque sensors 7, the executive body 8, the adder 9,; conversion unit 10 coordinates.

sensors 11 position master body.

The system works as follows.

In order to move the grip of the filling body 8, the operator applies some force to the setting body 1. In this case, from sensors 2 of the moment of the setting body 1 and sensors 7 of the moment of the executive body 8, the computing unit 4 will receive signals proportional to the forces applied to the specifying 1 and executive 8 bodies. Computational block. 4 recalculates the forces applied by the operator to the specifying body 1, and the forces applied to the executive body 8 to the same coordinate system, and forms their difference,

Signals proportional to this difference are fed to the input of astatic control unit 5, providing movement of the gripper of the executive body 8 at a speed proportional to the difference of the forces applied to the specifier 1 and the executive 8 bodies.

 With an appropriate choice of the gains of the block 5 of the static control of the small displacements of the setting body 1, it is possible to provide the required speed, the movement of the gripping of the executive body 8.

A signal proportional to the difference in effort is also fed to the inputs of the block 3 of the actuator of the driver, which forms on the driver, 1 force acting on the operator, i.e., in order to ensure the capture of the executive body 8 in a certain direction, the operator must attach to the master; body 1 effort, tremendous effort applied to the executive body 8.

The coordinate conversion unit 10 calculates the position of the handle (end point) of the driver, 1 from the positions of its degrees of mobility, which are measured by the sensors of the position of the driver.

The application of the invention will improve the productivity and efficiency of the operator due to the active reflection on the master body of the efforts developed by the executive authority, which creates

The presence of the operator in the area of the manipulator operation.

Claims (2)

1. USSR author's certificate No. 271252, cl. B 25 J 3/04, 13.05,69, 2. USSR Author's Certificate for Application No. 2514618 / 18-24, cl. B 25 J 13/00, 29,06,77 (prototype),