| 摘要 |
FIELD: robotics, possibly different industry branches and machine engineering. ^ SUBSTANCE: control apparatus for robot-manipulator includes control buttons, switching relay. Limit switches for preventing shift of working organ outside admissible range and for detecting position of working organ. Apparatus is provided with computer, parallel port and circuits for locking drive unit in different modes. Locking circuit for automatic mode is in the form of logic "OR-NO" and "AND" gates. One locking circuit for manual mode is realized by means of two buttons with opening contacts. Second locking circuit for manual mode is realized with use of two normally closed contacts. Terminals of parallel port are connected with data bus of microprocessor. Switching relay may be connected for operation in manual and in automatic modes. ^ EFFECT: enhanced accuracy of controlling robot-manipulator. ^ 2 dwg |
