Page 526 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition
P. 526
19.5 Types of controllers 523
78.1 [1984 mm]
51.5 [1308 mm]
1 Square = 4 Inches
= [101.6 mm]
75.4 [1916 mm]
FIGURE 19.21
Elevation view of manipulator area of reach.
19.5.1 Rate control
(Courtesy Schilling Robotics.)
Rate control is the simplest form of control for manipulators and grabbers. The operator controls a hydraulic manifold of solenoid or servo valves through simple toggle switches or, more commonly in larger manipulators, a joystick type of controller. Through the manipulation of the joystick, or the activation of buttons or switches on the joystick, the operator activates the electrically operated valves at the remote site, opening or closing the valves to achieve the desired motion of the manipulator.
An example of an integrated rate-controlled joystick is shown in Figure 19.22. The rate hand controller, developed by Schilling Robotics, combines all manipulator functions into one joystick that can be operated using either the left or right hand. The gripper open/close switches are located
