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Control system for an articulated manipulator arm

A technology of control system and manipulator, applied in the direction of program control manipulator, manufacturing tool, manipulator, etc., can solve the problems of increasing manipulator cost, unreliable source, expensive pollution tolerance, etc., to achieve reliable and easy maintenance, accurate control, The effect of eliminating stability problems

Inactive Publication Date: 2008-01-09
佩里·斯林斯里系统有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This greatly increases the cost of the manipulator arm, leads to many sources of unreliability (extensive wiring needs to pass through each joint, continuous flexing of the joints causes this wiring to break) and increases the complexity and cost of the maintenance process
Feedback control systems typically require the use of hydraulic servo valves, which are more expensive and less tolerant of contamination than simple on-off valves used in on-off control systems

Method used

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  • Control system for an articulated manipulator arm
  • Control system for an articulated manipulator arm
  • Control system for an articulated manipulator arm

Examples

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Embodiment Construction

[0029]As shown in Fig. 2, the master arm 10 is a model or replica of the manipulator arm 1 called the slave arm. The master arm 10 has a number of articulated sections 20, 30, 40, 50, 60 interconnected by joints, each joint of the master arm 10 corresponding to a joint of a manipulator or slave arm 1 to be controlled. In the embodiment described here, the main arm 10 includes: a base 20; an upper arm section 30 pivotally connected to the base 20 for rotation about a shoulder swivel axis A' and a shoulder pitch axis B' ; the first forearm segment 40, the first forearm segment 40 is pivotally connected to the upper arm segment 30 for rotation around the elbow pitch axis C'; the second forearm segment 50, the second forearm segment 50 is rotatably mounted on the first forearm segment 40 for rotation about the forearm rotation or roll axis D'; and a wrist segment 60 pivotally connected to the second forearm segment 50 for rotation about the wrist pitch axis E' rotate. Each of th...

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Abstract

A control system for an articulated manipulator arm (1), the manipulator arm having at least three degrees of freedom, said control system comprising a master controller (10) moveable to replicate the at least three degrees of freedom of the manipulator arm (1); means for determining the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm; and control means (200) for controlling actuation of the manipulator arm whereby the rate of movement of the manipulator arm in each of said at least three degrees of freedom is proportional to the rate of movement of the master controller (10) in each direction replicating a degree of freedom of the manipulator arm.

Description

technical field [0001] The present invention relates to a control system for an articulated (or articulated) manipulator arm having at least three degrees of freedom, preferably including at least two of a pivot axis, a rotation axis and a translation axis . Each joint or movable axis on the manipulator is called a degree of freedom. Background technique [0002] Manipulator arms are often used to perform operations that cannot be performed by a human alone or in environments that are too dangerous and / or unsuitable for a human operator, such as deep sea or surface operations, areas exposed to high radiation levels or environments outside the atmosphere. Such manipulator arms are usually controlled by an operator working in a safe location remote from the manipulator arm, who typically observes the manipulator arm and its surroundings via a video link. [0003] Manipulator arms are used on underwater vehicles known as ROVs (Remote Operated Vehicles). ROVs are used for a ...

Claims

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Application Information

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IPC IPC(8): B25J3/04B25J9/04
CPCB25J9/046B25J3/04
Inventor 尼古拉斯·亚历山大·劳森
Owner 佩里·斯林斯里系统有限公司
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