Reconfigurable rope-driven hyper-redundant capturing manipulator and adaptive capturing method thereof

Abstract

The application provides a reconfigurable rope-driven hyper-redundant capturing manipulator and an adaptive capturing method thereof, and relates to the technical field of manipulators.The reconfigurable rope-driven hyper-redundant capturing manipulator comprises a finger assembly, a base, a driving assembly and a rope.The finger assembly is located above the base, the driving assembly is located below the base, and the rope is located in the finger assembly, the base and the driving assembly.By adopting a reconfigurable finger joint mechanism in series with a rotary pair and a rope-driven hyper-redundant structure, the adaptive capturing of a target object is realized by the principle of under-actuation adaptation, and the number of the reconfigurable finger joint mechanism can be expanded to increase the envelope area of the capturing surface and improve the capturing reliability.The angle mode switching of the reconfigurable finger joint mechanism is controlled by an electromagnetic component, the reconfiguration of the capturing manipulator is realized, a more suitable capturing strategy can be formulated according to the shape of the object, and the object can be better captured.The rope is controlled to be wound or unwound by the driving assembly, and the capturing and releasing of the target object can be realized by the bending of each finger assembly.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a reconfigurable rope-driven super-redundant capture robotic arm and its adaptive capture method. Background Technology

[0002] Currently, countless satellites and other debris are discarded in Earth orbit. Decommissioned satellites and other space debris pose a serious threat to many operational satellites. Approximately 8,500 tons of decommissioned satellites remain in low Earth orbit, posing a risk of colliding with other spacecraft. Some space debris also poses a threat to ground safety upon re-entry into the atmosphere. Meanwhile, space missions such as on-orbit servicing and on-orbit assembly urgently require versatile capture devices. Existing common space capture technologies can be mainly divided into two categories: those targeting cooperative targets and those targeting non-cooperative targets. Capturing cooperative targets mostly requires the target object to be equipped with a docking device. However, current technologies applied to capturing non-cooperative targets suffer from drawbacks such as poor versatility, high cost per capture, and weak adaptability.

[0003] Chinese invention application CN108422411A discloses a foldable and bendable spatial truss capture mechanism. Each finger assembly of this device consists of multiple truss-type folding units. A bottom screw motor assembly drives a scissor mechanism in each unit to fold and unfold the finger. An intermediate bending drive between the folding units enables finger bending, thus achieving the capture motion. However, the capture motion of this patent application's device is driven by the intermediate bending drive between the folding units, which prevents adaptive capture, and results in poor capture capability and complex control.

[0004] Therefore, it is necessary to propose a reconfigurable tethered super-redundant capture manipulator and its adaptive capture method for use in various special environments such as space on-orbit servicing, space on-orbit assembly, and space debris capture. Summary of the Invention

[0005] To address the problems of existing technologies, this invention provides a reconfigurable rope-driven ultra-redundant capture manipulator and its adaptive capture method. By employing a series of reconfigurable knuckle mechanisms with rotating joints and a rope-driven ultra-redundant structure, it achieves adaptive capture of target objects based on the principle of underactuated adaptation. Furthermore, by increasing the number of reconfigurable knuckle mechanisms, the envelope area of ​​the capture surface can be increased, improving capture reliability. Electromagnetic components control the rotation mode switching of the reconfigurable knuckle mechanisms, enabling the capture manipulator to be reconfigured and allowing for the development of more suitable capture strategies based on the object's shape, resulting in better object capture. The extension and retraction of the rope are controlled by a drive component, and the capture and release of the target object are achieved through the bending of each finger component.

[0006] This invention provides a reconfigurable rope-driven ultra-redundant capture manipulator, comprising a finger assembly, a base, a drive assembly, and a rope. The finger assembly is located above the base, the drive assembly is located below the base, and the rope is located within the finger assembly, base, and drive assembly. The finger assembly includes a fingertip mechanism, a reconfigurable knuckle mechanism, and a hinge. The fingertip mechanism and the reconfigurable knuckle mechanism are rotatably connected via the hinge. The fingertip mechanism includes a fingertip seat and a fingertip mesh, with the fingertip mesh connected to the fingertip seat. The reconfigurable knuckle mechanism includes a knuckle center body, an electromagnetic component, an electromagnetic cover plate, side wing plates, and a knuckle mesh. The electromagnetic component is disposed within the knuckle center body, and the electromagnetic cover plates are symmetrically disposed within the knuckle center body. On both sides of the knuckle center body, the side wing plates are mirror-symmetrically arranged on the left and right sides of both ends of the knuckle center body and are rotatably connected to the knuckle center body. The knuckle mesh is symmetrically arranged on both sides of the knuckle center body and connected to the side wing plates. The drive assembly includes a top support plate, a middle support plate, a first support column, a bottom support plate, a second support column, pulleys, a motor, and a winch. The first end face of the top support plate is connected to the second end face of the base. The middle support plate is connected to the top support plate through the first support column. The bottom support plate is connected to the middle support plate through the second support column. The pulleys are evenly distributed on the middle support plate. The motor is evenly distributed on the bottom support plate in a 90° circle. The winch is connected to the output shaft of the motor.

[0007] Preferably, the finger assemblies are evenly distributed on the base in a 90° circumference and are rotatably connected to the first end of the base via the hinge.

[0008] Preferably, the side wing plate is L-shaped, with a rope hole at the middle of the first end of the side wing plate, and the second end of the side wing plate is made of magnetic material.

[0009] Preferably, the number of winches, pulleys and ropes is the same, the number of winches is eight, divided into four groups, and each group of winches is connected to the output shaft of the motor in sequence. The pulleys are also divided into four groups and evenly distributed in a 90° circle on the middle support plate.

[0010] Preferably, the first end of the rope is wound around the winch, and the second end of the rope passes through the middle support plate, around the pulley, and sequentially passes through the rope holes of the base and the side wing plate to connect with the fingertip seat.

[0011] Preferably, the finger assembly is provided in four groups, and each group of the finger assembly is provided with one fingertip mechanism and multiple reconfigurable knuckle mechanisms. The fingertip mechanism is located at the end of the finger assembly, and the fingertip mechanism is rotatably connected to the reconfigurable knuckle mechanism. The multiple reconfigurable knuckle mechanisms are all rotatably connected to each other through the hinge, and the rotation center lines formed by the reconfigurable knuckle mechanisms in each group of the finger assembly are parallel to each other.

[0012] Preferably, both the fingertip mesh and the knuckle mesh are flexible metal mesh.

[0013] Preferably, the rotation axis of the winch is parallel to the rotation axis of the pulley.

[0014] Preferably, it also includes a control system, a sensing plate, and a force sensor. The sensing plate is disposed on the finger assembly, and the force sensor is disposed on the rope. The sensing plate and the force sensor are respectively connected to the input terminal of the control system, and the motor of the drive assembly and the electromagnetic component of the finger assembly are respectively connected to the output terminal of the control system.

[0015] A second aspect of the present invention provides an adaptive capture method for the aforementioned reconfigurable tethered hyper-redundant capture manipulator, comprising the following steps:

[0016] S1. Capture Status Selection:

[0017] Once the external sensors detect a target object entering the robot's workspace, they transmit the object's characteristic parameters to the central processing unit (CPU) of the external control system. The CPU then performs parameter recognition, determining the appropriate capture mode based on the object's shape and size. After processing, the control system outputs control signals to the drive components, controlling the electromagnetic components of the reconfigurable knuckle mechanism. By switching the configurations of each reconfigurable knuckle mechanism, the entire capture robot's capture state can be switched.

[0018] S2, Adaptive Capture Process:

[0019] When the external sensor detects that a target object has entered the working space of the capture robot, and the robot has switched to the corresponding grasping state, the control system outputs a control signal to the drive component to control the corresponding motor to rotate and retract the rope. Each finger component has two ropes, and the bending motion of the finger component can be controlled by the coordinated retraction and retraction of the two ropes. By controlling the bending motion of each finger component, the grasping motion of the entire capture robot can be controlled, thereby completing the capture of the target object.

[0020] When the finger components come into contact with the target object to be captured, because the number of degrees of freedom of each finger component is greater than the number of driving elements, the finger components are underactuated devices, and the capturing robot can adaptively capture the target object. At the same time, the finger components carry sensing plates. When the finger components come into contact with the target object to be captured, the sensing plates will deform and transmit signals to the central processing unit of the external control system. The central processing unit determines whether a reliable capture has been completed based on the signals from the sensing plates on each finger component, and outputs control signals to the drive components based on the judgment results, controlling the corresponding motors to stop working and self-lock, thus ending the capture process.

[0021] S3, Release process:

[0022] When the target object needs to be released, the central processing unit of the external control system outputs control signals to the drive components, controlling the corresponding motors to rotate and extend the ropes. By controlling the extension and retraction of the ropes on each finger component, the bending direction of the fingers can be controlled. Through the cooperation of multiple motors, the entire capture robot can release the target object.

[0023] The features and beneficial effects of this invention are:

[0024] 1. The present invention provides a reconfigurable rope-driven super-redundant capture manipulator. By employing a reconfigurable finger mechanism with revolving joints in series and a rope-driven super-redundant structure, it achieves adaptive capture of target objects based on the principle of underactuated self-adaptation. Furthermore, by expanding the number of reconfigurable finger mechanisms, the envelope area of ​​the capture surface can be increased, thereby improving capture reliability.

[0025] 2. The present invention provides a reconfigurable rope-driven super-redundant capture manipulator. By controlling the rotation mode switching of the reconfigurable finger mechanism through electromagnetic components, the capture manipulator can be reconfigured, enabling the formulation of a more suitable capture strategy based on the shape of the object, and achieving better object capture.

[0026] 3. The present invention provides a reconfigurable rope-driven super-redundant capture manipulator. By controlling the extension and retraction of the rope through the drive components and by bending the individual finger components, it can capture and release the target object. By unifying all drive components at the rear, the effective payload ratio can be improved. At the same time, it can maintain a bent state during transportation, saving transportation space. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the reconfigurable rope-driven super-redundant capture manipulator of the present invention;

[0028] Figure 2 This is a schematic diagram of the finger component in this invention;

[0029] Figure 3 This is a schematic diagram of the reconfigurable knuckle mechanism in this invention;

[0030] Figure 4 This is a schematic diagram of the structure of the driving component in this invention;

[0031] Figure 5 This is a schematic diagram of the reconfigurable knuckle mechanism with a small turning angle in this invention;

[0032] Figure 6 This is a partial structural schematic diagram of the final bent shape of the finger component in the minimum turning angle form of the present invention.

[0033] Figure 7 This is a partial structural schematic diagram of the minimum turning angle form capture of the present invention;

[0034] Figure 8 This is a schematic diagram of the reconfigurable knuckle mechanism with a large turning angle in this invention;

[0035] Figure 9 This is a partial structural schematic diagram of the final bent shape of the finger component in the maximum angle form of the present invention.

[0036] Figure 10 This is a partial structural schematic diagram of the maximum turning angle pattern capture of the present invention.

[0037] Key reference numerals:

[0038] Finger assembly 1, fingertip mechanism 11, fingertip seat 111, fingertip mesh cover 112, reconfigurable knuckle mechanism 12, knuckle center body 121, electromagnetic component 122, electromagnetic cover plate 123, side wing plate 124, knuckle mesh cover 125, hinge 13, base 2, drive assembly 3, top support plate 31, middle support plate 32, first support column 33, bottom support plate 34, second support column 35, pulley 36, motor 37, winch 38, rope 4. Detailed Implementation

[0039] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0040] This invention relates to a reconfigurable tethered, ultra-redundant capture manipulator, such as... Figure 1As shown, it includes a finger assembly 1, a base 2, a drive assembly 3, and a rope 4. The finger assembly 1 is located above the base 2, the drive assembly 3 is located below the base 2, and the rope 4 is located within the finger assembly 1, base 2, and drive assembly 3. The finger assembly 1 is evenly distributed on the base 2 in a 90° circumference and is rotatably connected to the first end of the base 2 via a hinge 13. The number of winches 38, pulleys 36, and rope 4 is the same. There are eight winches 38, divided into four groups. Each group of winches 38 is sequentially connected to the output shaft of the motor 37. The pulleys 36 are also divided into four groups and evenly distributed on the middle support plate 32 in a 90° circumference. The first end of the rope 4 is wound around the winch 38, and the second end of the rope 4 passes through the middle support plate 32, around the pulley 36, and sequentially passes through the rope holes of the base 2 and the side wing plate 124 to connect with the fingertip seat 111. The finger assembly 1 comprises four groups, each group consisting of a fingertip mechanism 11 and multiple reconfigurable knuckle mechanisms 12. The fingertip mechanism 11 is located at the end of the finger assembly 1 and is rotatably connected to the reconfigurable knuckle mechanisms 12. All reconfigurable knuckle mechanisms 12 are rotatably connected to each other via hinges 13, and the rotation center lines formed by the reconfigurable knuckle mechanisms 12 in each group of finger assemblies 1 are parallel to each other. The assembly also includes a control system, a sensing plate, and a force sensor. The sensing plate is mounted on the finger assembly 1, and the force sensor is mounted on the rope 4. The sensing plate and force sensor are respectively connected to the input end of the control system. The motor 37 of the drive assembly 3 and the electromagnetic component 122 of the finger assembly 1 are respectively connected to the output end of the control system.

[0041] like Figure 2 and Figure 3 As shown, the finger assembly 1 includes a fingertip mechanism 11, a reconfigurable knuckle mechanism 12, and a hinge 13. The fingertip mechanism 11 and the reconfigurable knuckle mechanism 12 are rotatably connected via the hinge 13. The fingertip mechanism 11 includes a fingertip seat 111 and a fingertip mesh cover 112, with the fingertip mesh cover 112 connected to the fingertip seat 111. The reconfigurable knuckle mechanism 12 includes a knuckle center body 121, an electromagnetic component 122, an electromagnetic cover plate 123, side wing plates 124, and a knuckle mesh cover 125. The electromagnetic component 122 is disposed within the knuckle center body 121. The electromagnetic cover plate 123 is symmetrically disposed on both sides of the knuckle center body 121. The side wing plates 124 are mirror-symmetrically disposed on the left and right sides of both ends of the knuckle center body 121 and are rotatably connected to the knuckle center body 121. The knuckle mesh cover 125 is symmetrically disposed on both sides of the knuckle center body 121 and is connected to the side wing plates 124. The side wing plate 124 is L-shaped, with a rope-threading hole at the middle of the first end of the side wing plate 124, and the second end of the side wing plate 124 is made of magnetic material. The fingertip mesh cover 112 and the knuckle mesh cover 125 are both flexible metal mesh covers, which can isolate magnetic field interference between the mechanisms, while allowing the robot to make flexible contact with the target object and preventing damage to the object's surface.

[0042] like Figure 4As shown, the drive assembly 3 includes a top support plate 31, a middle support plate 32, a first support column 33, a bottom support plate 34, a second support column 35, pulleys 36, a motor 37, and a winch 38. The first end face of the top support plate 31 is connected to the second end face of the base 2. The middle support plate 32 is connected to the top support plate 31 via the first support column 33, and the bottom support plate 34 is connected to the middle support plate 32 via the second support column 35. The pulleys 36 are evenly distributed on the middle support plate 32. The motors 37 are evenly distributed on the bottom support plate 34 in a 90° circle. The winch 38 is connected to the output shaft of the motor 37. The rotation axis of the winch 38 is parallel to the rotation axis of the pulleys 36.

[0043] like Figures 5-7 As shown, when the electromagnetic component 122 is energized, a magnetic field is generated. Under the influence of the magnetic field of the electromagnetic component 122, the second end of the side wing plate 124 will be in close contact with the middle of the knuckle center body 121, and the reconfigurable knuckle mechanism 12 will deform into a small-angle mode. When all the reconfigurable knuckle mechanisms 12 are deformed into a small-angle mode, the capture manipulator as a whole presents the minimum angle form. At this time, the capture manipulator is suitable for fingertip capture of target objects.

[0044] like Figures 8-10 As shown, when the electromagnetic component 122 is de-energized, the magnetic field disappears. The second end of the side wing plate 124 loses the magnetic field effect of the electromagnetic component 122, and the reconfigurable knuckle mechanism 12 deforms into a large-angle mode. When all the reconfigurable knuckle mechanisms 12 are deformed into a large-angle mode, the capture manipulator as a whole presents the maximum angle form. At this time, the capture manipulator is suitable for enveloping and capturing the target object.

[0045] In another aspect, the present invention provides an adaptive capture method for a reconfigurable, tethered, hyper-redundant capture manipulator, such as... Figures 1-10 As shown, it includes the following steps:

[0046] S1. Capture Status Selection:

[0047] Once the external sensors detect a target object entering the robot's workspace, they transmit the object's characteristic parameters to the central processing unit (CPU) of the external control system. The CPU performs parameter recognition and determines the appropriate capture mode based on the object's shape and size. After processing, the control system outputs a control signal to the drive assembly 3, controlling the electromagnetic components 122 of the reconfigurable knuckle mechanism 12 to operate. By switching the modes of each reconfigurable knuckle mechanism 12, the capture state of the entire robot is switched.

[0048] S2, Adaptive Capture Process:

[0049] When the external sensor detects that the target object has entered the working space of the capture robot, and the robot has switched to the corresponding capture state, the control system outputs a control signal to the drive component 3 to control the corresponding motor 37 to rotate and retract the rope 4. Each finger component 1 is bent towards the axis of the base 2 through the retraction and retraction of two ropes 4, thereby controlling the capture movement of the entire capture robot and completing the capture of the target object.

[0050] When finger assembly 1 comes into contact with the target object to be captured, because the number of degrees of freedom of each finger assembly 1 is greater than the number of driving links, the finger assembly 1 is an underactuated device, and the capturing robot can adaptively capture the target object. Simultaneously, each finger assembly 1 carries a sensor plate. When the finger assembly 1 comes into contact with the target object, the sensor plate deforms and transmits a signal to the central processing unit of the external control system. The central processing unit determines whether a reliable capture has been completed based on the signals from the sensor plates on each finger assembly 1, and outputs a control signal to the drive assembly 3 based on the determination result, controlling the corresponding motor 37 to stop working and self-lock, thus ending the capture process.

[0051] S3, Release process:

[0052] When it is necessary to release the target object, the central processing unit of the external control system outputs a control signal to the drive component 3, which controls the corresponding motor 37 to rotate and retract the rope 4, causing each finger component 1 to bend towards the periphery of the base 2, thereby completing the release of the target object by the entire capture robot.

[0053] The following describes in further detail a reconfigurable tethered hyper-redundant capture manipulator and its adaptive capture method according to embodiments of the present invention. The usage process of the reconfigurable tethered hyper-redundant capture manipulator of the present invention is as follows:

[0054] When the capture robot approaches and grabs the target object, the motor 37 drives the winch 38 to rotate, which in turn causes the rope 4 connected to the finger assembly 1 to retract. Under the action of the rope 4, the finger assembly 1 can bend in the direction of the axis of the base 2. After the finger assembly 1 contacts the target object and applies a certain force, the target object can be captured. Conversely, the motor 37 drives the winch 38 to rotate, and the rope 4 causes each finger assembly 1 to bend in the direction of the periphery of the base 2, thereby releasing the target object.

[0055] When the target being captured is large, an envelope capture method can be used. When using an envelope capture method, the reconfigurable knuckle mechanism 12 can be transformed into a large-angle mode. In the large-angle mode, a single robotic hand finger can also wrap around and capture the target object. When all reconfigurable knuckle mechanisms 12 are switched to the large-angle mode, the capture robotic hand as a whole presents its maximum angle shape.

[0056] When the target being captured is small, fingertip grasping can be used. When fingertip grasping is used, the reconfigurable knuckle mechanism 12 can be transformed into a small turning angle mode. When all reconfigurable knuckle units 5 are switched to the small turning angle mode, the capture robot arm as a whole presents the smallest turning angle form.

[0057] This invention relates to a reconfigurable rope-driven, ultra-redundant capture manipulator. By employing a series of reconfigurable knuckle mechanisms 12 with rotating joints and a rope-driven, ultra-redundant structure, it achieves adaptive capture of target objects using an underactuated adaptive principle. The number of reconfigurable knuckle mechanisms 12 can be increased to expand the envelope area of ​​the capture surface, improving capture reliability. Electromagnetic components 122 control the rotation mode switching of the reconfigurable knuckle mechanisms 12, enabling the capture manipulator to be reconfigured. This allows for the development of more suitable capture strategies based on the object's shape, resulting in better object capture. The extension and retraction of the rope 4 are controlled by the drive component 3, and the capture and release of the target object are achieved through the bending of each finger component 1.

[0058] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A reconfigurable, tethered, ultra-redundant capture manipulator, characterized in that, It includes a finger assembly, a base, a drive assembly, and a rope, wherein the finger assembly is located above the base, the drive assembly is located below the base, and the rope is located within the finger assembly, the base, and the drive assembly; The finger assembly includes a fingertip mechanism, a reconfigurable knuckle mechanism, and a hinge, wherein the fingertip mechanism and the reconfigurable knuckle mechanism are rotatably connected via the hinge. The fingertip mechanism includes a fingertip base and a fingertip mesh cover, the fingertip mesh cover being connected to the fingertip base; the reconfigurable knuckle mechanism includes a knuckle center body, an electromagnetic component, an electromagnetic cover plate, side wing plates, and a knuckle mesh cover, the electromagnetic component being disposed within the knuckle center body, the electromagnetic cover plate being symmetrically disposed on both sides of the knuckle center body, the side wing plates being mirror-symmetrically disposed on the left and right sides of both ends of the knuckle center body and rotatably connected to the knuckle center body, and the knuckle mesh cover being symmetrically disposed on both sides of the knuckle center body and connected to the side wing plates; The drive assembly includes a top support plate, a middle support plate, a first support column, a bottom support plate, a second support column, pulleys, a motor, and a winch. The first end face of the top support plate is connected to the second end face of the base. The middle support plate is connected to the top support plate through the first support column. The bottom support plate is connected to the middle support plate through the second support column. The pulleys are evenly distributed on the middle support plate. The motor is evenly distributed on the bottom support plate in a 90° circumference. The winch is connected to the output shaft of the motor. The first end of the rope is wound around the winch, and the second end of the rope passes through the middle support plate, around the pulley, and sequentially passes through the rope holes of the base and side wing plate to connect with the fingertip seat.

2. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, The finger components are evenly distributed on the base in a 90° circle and are rotatably connected to the first end of the base via the hinge.

3. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, The side wing plate is L-shaped, with a rope hole at the middle of the first end of the side wing plate, and the second end of the side wing plate is made of magnetic material.

4. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1 or 3, characterized in that, The number of winches, pulleys, and ropes is the same. There are eight winches, divided into four groups. Each group of winches is connected to the output shaft of the motor in sequence. The pulleys are also divided into four groups and are evenly distributed in a 90° circle on the middle support plate.

5. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, The finger assembly is provided in four groups. Each group of the finger assembly is provided with one fingertip mechanism and multiple reconfigurable knuckle mechanisms. The fingertip mechanism is located at the end of the finger assembly. The fingertip mechanism is rotatably connected to the reconfigurable knuckle mechanism. The multiple reconfigurable knuckle mechanisms are rotatably connected to each other through the hinge. The rotation center lines formed by the reconfigurable knuckle mechanisms in each group of the finger assembly are parallel to each other.

6. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, Both the fingertip mesh and the knuckle mesh are made of flexible metal material.

7. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, The rotation axis of the winch is parallel to the rotation axis of the pulley.

8. The reconfigurable tethered, ultra-redundant capture manipulator according to claim 1, characterized in that, It also includes a control system, a sensing plate, and a force sensor. The sensing plate is disposed on the finger assembly, and the force sensor is disposed on the rope. The sensing plate and the force sensor are respectively connected to the input end of the control system. The motor of the drive assembly and the electromagnetic component of the finger assembly are respectively connected to the output end of the control system.

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