A new approach to solving the problem of robotmanipulator control | Vestnik Tomskogo gosudarstvennogo universiteta. Upravlenie, vychislitelnaja tehnika i informatika – Tomsk State University Journal of Control and Computer Science. 2021. № 55. DOI: 10.17223/19988605/55/1

A new approach to solving the problem of robotmanipulator control

The problem of control of a robotic manipulator, consisting of three links: an arrow, a handle and an actuator, connected by hinges, is considered. The configuration of the robot is uniquely determined by the angles between the links. These angles are assumed to be measurable. It is also assumed that from these measurements it is possible to calculate the moments of inertia and weight moments (the product of weight per shoulder) of the links. The result is a simple mathematical model describing the movement of the robot, for which a simple control algorithm is obtained. The results of numerical simulation for the problems of the transition of the manipulator from the initial state to the working state and the movement of the manipulator along the surface are presented.

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Keywords

manipulation object, robotic arm, model of control over motion of center of mass of a moving object, layout

Authors

Name	Organization	E-mail
Paraev Jury I.	Tomsk State University	paraev@mail.ru
Kolesnikova Svetlana I.	St. Petersburg State University of Aerospace Instrumentation	skolesnikova@yandex.ru
Tsvetnitskaya Svetlana A.	Tomsk State University	svetasa@sibmail.com

Всего: 3

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