Coordinate-parametric control of time optimal manipulation robots

Author

Slutski, L.I. ; Guryevski, A.B.

Author_Institution

Kazakh State Univ., Alma-Ata, Kazakhstan

fYear

1992

Firstpage

316

Abstract

The problem of synthesizing time-optimal automatic control system (ACS) dealing with the executing mechanism of a robot body in the form of the second order linear object is considered taking into account the measurement inaccuracy of real position transducer. The purpose of synthesis is to make the level of the ACS positioning error, caused by this inaccuracy, less and introduce some additional parametric control channel is used as a corresponding means. The methods of appropriate ACS synthesis are presented. The ACS structure was designed and the comparative digital simulation showing the suggested approach effectiveness was performed

Keywords

digital simulation; manipulators; optimal control; position control; automatic control system; coordinate parametric control; digital simulation; executing mechanism; parametric control channel; positioning error; real position transducer; second order linear object; time optimal manipulation robots; Angular velocity control; Circuits; Control systems; Coordinate measuring machines; Electric motors; Optimal control; Relays; Robot kinematics; Shafts; Transducers;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on

Conference_Location

Xian

Print_ISBN

0-7803-0042-4

Type

conf

DOI

10.1109/ISIE.1992.279562

Filename

279562