Method of Formation of Reference Control Signals for Redundant Manipulators

Abstract

The paper is devoted to preservation of dynamic control accuracy of working tools of multilink manipulators when they move along arbitrary spatial trajectories, taking into account the design limits in all degrees of freedom and special cases of position of their links. Preservation of control accuracy is proposed to be ensured by eliminating reach of all degrees of freedom of the manipulators to the limits and to indicated special positions, characterized by ambiguity in solving the inverse kinematic problems of the manipulators, as well as excluding the reach of their working tools to boundaries of working area due to use of a redundant degree of freedom when approaching indicated undesirable positions. The performed simulation has confirmed efficiency of the proposed method.

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

“…Note that the paper constitutes an extension of the conference papers [3,5,26], both theoretically and experimentally. Namely, papers [3,5] consider the application of the presented approach for controlling the SM installed on the body of an autonomous underwater vehicle moving near the object of work by means of only one DoF provided by the propulsion complex of the vehicle.…”

“…In this case, the well-known IKP solution was used, which allows the SM to work only in the front semi-sphere of the apparatus. In [26], only the implementation of the system is described very briefly and only the simulation results are presented. In the presented work, firstly, a new IKP solution is obtained, taking into account all possible configurations of the SM and the extended ranges of the changes in the generalized coordinates.…”