APPARATUS FOR PROGRAM CONTROL OF MANIPULATOR Russian patent published in 1999 - IPC

FIELD: robotics, namely systems for program control of manipulators with standard kinematic circuit. SUBSTANCE: apparatus forms control signals fed to each drive unit of respective freedom degree of manipulator according to predetermined motion law of characteristic point of grip and its orientation in three dimensional space. Control signals are formed in real time by means of standard units. EFFECT: formation of control signals fed to drives of all freedom degrees of manipulator according to time functions characterizing linear movement of grip point in space. 3 dwg