JPH0179585U - - Google Patents
Info
- Publication number
- JPH0179585U JPH0179585U JP1987171970U JP17197087U JPH0179585U JP H0179585 U JPH0179585 U JP H0179585U JP 1987171970 U JP1987171970 U JP 1987171970U JP 17197087 U JP17197087 U JP 17197087U JP H0179585 U JPH0179585 U JP H0179585U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- power
- turned
- manipulator
- slave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Control Of Position Or Direction (AREA)
Description
第１図は本考案の実施例を示すブロツク構成図
、第２図は制御装置内の制御ユニツトを示すブロ
ツク構成図、第３図は本実施例の制御動作を示す
説明図である。
図面中、１はマスタアーム、２はスレーブアー
ム、３は操作卓、４は制御装置である。
FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a block diagram showing a control unit in a control device, and FIG. 3 is an explanatory diagram showing the control operation of this embodiment. In the drawings, 1 is a master arm, 2 is a slave arm, 3 is a console, and 4 is a control device.
Claims (1)
りスレーブアームを動作させるマスタ／スレーブ
マニピユレータにおいて、 マスタアーム及びスレーブアームの各軸にはブ
レーキが設置されており、 投入・開放することによりマニピユレータ全体
の電源を入・切する電源スイツチと、投入させる
ことによりマニピユレータ動作を開始させる信号
を発生する操作開始スイツチとを備えるとともに
、 制御装置は、電源が切られるとただちに前記ブ
レーキをかけるとともに電源を切つたときのアー
ム位置を記憶し、操作開始スイツチを開放した状
態で電源が入れられると前記ブレーキによる制動
を解除して記憶していたアーム位置にアームがと
どまるよう位置ホールド制御をするとともにアー
ムの自重補償制御を開始し、電源が入つた状態で
操作開始スイツチが入れられるとアームの自重補
償制御を継続しつつマニピユレータ動作を開始さ
せるよう制御することを特徴とするマスタ／スレ
ーブマニピユレータ。[Scope of Claim for Utility Model Registration] In a master/slave manipulator that operates a slave arm by a control device in response to the movement of the master arm, a brake is installed on each axis of the master arm and slave arm.・Equipped with a power switch that turns on and off the power of the entire manipulator when opened, and an operation start switch that generates a signal that starts the operation of the manipulator when turned on, and a control device that immediately turns on and off the power of the manipulator when the power is turned off. The arm position when the brake is applied and the power is turned off is memorized, and when the power is turned on with the operation start switch released, the braking by the brake is released and the arm is held in position so that it remains at the memorized arm position. The master controller starts the self-weight compensation control of the arm at the same time as the control, and when an operation start switch is turned on while the power is turned on, the control is performed so that the manipulator operation is started while continuing the dead-weight compensation control of the arm. Slave manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987171970U JPH0179585U (en) | 1987-11-12 | 1987-11-12 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987171970U JPH0179585U (en) | 1987-11-12 | 1987-11-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0179585U true JPH0179585U (en) | 1989-05-29 |
Family
ID=31463968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987171970U Pending JPH0179585U (en) | 1987-11-12 | 1987-11-12 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0179585U (en) |
-
1987
- 1987-11-12 JP JP1987171970U patent/JPH0179585U/ja active Pending