Collision-Free control system for a multi-axially controllable manipulator
First Claim
1. A collision-free control system comprising a multi-axially controllable manipulator having interconnected supporting arms which are movable by means of controllable actuators in such a way that a free end of the manipulator can be positioned spatially and moved into various positions, and control means for commanding the actuators, said control means comprising a miniature model made substantially to scale of the manipulator, said miniature model being operated manually and being equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator and the miniature model thereof always assume identical positions, said control means (4, 5) also comprising a miniature model (3'"'"') of an object (3) to be treated with the manipulator (1), wherein the scale ratio of the miniature model (3'"'"') of the object (3) to be treated is greater than the scale ratio of the miniature model (1'"'"') of the manipulator (1) in order to form a collision-free safety zone in the immediate surroundings of the object (3) to be treated.
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Abstract
A collision-free control system comprising a multi-axially controllable manipulator having interconnected supporting arms which are movable by way of actuators in such a way that a free end of the manipulator can be positioned spatially and moved into various positions. The actuators are controlled via a miniature model of the manipulator which is operated manually and is equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator and the miniature model thereof always assume identical positions.
29 Citations
15 Claims
- 1. A collision-free control system comprising a multi-axially controllable manipulator having interconnected supporting arms which are movable by means of controllable actuators in such a way that a free end of the manipulator can be positioned spatially and moved into various positions, and control means for commanding the actuators, said control means comprising a miniature model made substantially to scale of the manipulator, said miniature model being operated manually and being equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator and the miniature model thereof always assume identical positions, said control means (4, 5) also comprising a miniature model (3'"'"') of an object (3) to be treated with the manipulator (1), wherein the scale ratio of the miniature model (3'"'"') of the object (3) to be treated is greater than the scale ratio of the miniature model (1'"'"') of the manipulator (1) in order to form a collision-free safety zone in the immediate surroundings of the object (3) to be treated.
- 8. An X-ray apparatus comprising a manipulator (1) equipped with an X-ray source (6) and an image sensor (7), and an object support (2) on which an object (3) to be examined is placeable, the manipulator (1) being movable by means of controllable actuators in such a way that a free end (23) of the manipulator (1) can be positioned spatially and moved into various positions, the object support (2) being movable by means of controllable actuators in such a way that the object (3) can be moved into various positions, the apparatus further comprising an image screen (9) for displaying an image detected by the image sensor (7) and control means situated in an area (B) screened off from the X-ray source (6), the control means comprising a miniature model (1'"'"', 2'"'"') made substantially to scale of the manipulator (1) and of the object support (2'"'"'), said miniature models (1'"'"', 2'"'"') being operated manually and being equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator (1) and the object support (2) and the respective miniature models (1'"'"', 2'"'"') thereof always assume identical positions, the apparatus being capable of being operated with a collision-free safety zone in the immediate surroundings of the object to be examined.
- 11. A collision-free control system comprising a multi-axially controllable manipulator having interconnected supporting arms which are movable by means of controllable actuators in such a way that a free end of the manipulator can be positioned spatially and moved into various positions, and control means for commanding the actuators, said control means comprising a miniature model made substantially to scale of the manipulator, said miniature model being operated manually and being equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator and the miniature model thereof always assume identical positions, said control means (4, 5) also comprising a miniature model (3'"'"') of an object (3) to be treated with the manipulator (1), wherein the scale ratio of the miniature model (1'"'"') of the manipulator (1) is locally greater than that of the miniature model (3'"'"') of the object (3) to be treated due to a material layer on the miniature model (1'"'"') of the manipulator (1) in order to form a safety zone.
Specification