Patent UA-40710-U (UA)
Title: device of identification and analysis of tactile signals for information-control system of adaptive robot
Inventor: KONDRATENKO YURII PANTELIOVYCH
IPC: B25J19/02
Filed: 2008-10-28
Abstract: A device of identification and analysis of tactile signals for computer information-control system of adaptive robot with one input and three outputs contains series-connected first slip sensor of component and first amplifier, a tactile sensor mounted on one of the jaws of robot claw, the first delay unit, a drive of claw jaws, the first element OR, series-connected first RS-trigger, an integrator, the first threshold element, the second delay unit and the second element OR, series-connected counter, a digital-analog converter, the first adder, the second key, a voltage divider, the second adder, the first key and the first power amplifier, and also the second threshold element, a reference-voltage source and series-connected second RS-trigger and the third element OR, the output which is connected with a control input of the first key. The output of tactile sensor is connected to the first inputs of the first element OR and first RS-trigger. The output of the first amplifier is connected to the second input of the first element OR. The first input of counter is connected to the second input of the second element OR and to the third input of the third element OR. The output of the first delay unit is connected with the first output of device and with the second input of the second RS-trigger, which first input is connected with the first input of device. The output of the second delay unit is connected with the second inputs of the first RS-trigger and counter. The output of the second element OR is connected to the second input of integrator. The output of the first threshold element is connected to the second input of the third element OR and to the control input of the second key. The reference-voltage source is connected to the second input of the first adder. The output of digital-analog converter is connected with the input of the second threshold element, whose output is connected with the second output of device. The second input of the second adder is connected to the second output of the second key. The output of the first element OR is connected with the input of the first delay unit. The output of power amplifier is connected with the input of the drive of claw jaws. The device addtionally contains series-connected second slip sensor mounted in one of the jaws of claw with determined orientation for the possibility of identification of the slip of component in the direction perpendicular to the direction of the specific identification of the slip of component by the first slip sensor, and the second amplifier, the fourth element OR, the third delay unit, the third RS-trigger, and also the third and fourth keys. The output of the first and second amplifiers are connected to the first and second inputs of the fourth element OR respectively, which output is connected to the signal input of the third key, which first output is connected to the first input of counter, and the second output - to the first input of the third RS-trigger, which second input is connected with the second input of device, and output - with control input of the fourth key and with input of third delay unit, which output is at the same time the fourth output of device. The output of the fourth key is connected to the third output of device, and the signal input of the fourth key - to the output of second delay unit and to the control input of the third key. The first and second inputs and first, second, third and fourth outputs of device are connected to two appropriate outputs and four appropriate inputs of the computer information-control system.