| Autor: |
V. Zhoga, V. Dyashkin-Titov, N. Vorob’eva |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Lecture Notes in Mechanical Engineering ISBN: 9783030548162 |
| DOI: |
10.1007/978-3-030-54817-9_71 |
| Popis: |
The paper presents an algorithm for synthesizing the control forces of a tripod-based manipulator, for which it uses a mathematical dynamics model where control-element masses are taken into account. There have been obtained dependences of the programmed forces of drive motors when moving the grabber on a spatial straight line. The algorithm for the formation of control voltages is formed on the basis of complete equations of dynamics of the manipulator, taking into account the kinematic parameters of the manipulator in all degrees of freedom. The parameters of the equations characterizing the character of dynamic errors change allow varying the characteristics of manipulator controlled movements. Actuator control loops are synthesized while algorithmizing the trajectory control. The algorithm to stabilize the programmed gripper motions as set in a parametric form is synthesized by the assigned trajectory using feedback sensor signals. The algorithm for calculating the control forces is one of the compensating type algorithms. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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