Synthesis of the Robotic Tool Motion-Controlling Algorithm Using Method of Correction Dynamics and Pertubations Compensation

Abstract

The task of controlling the manipulation robot movement in one direction has been considered. Such task appears at cutting, welding, painting and other similar operations, when the robot instrument performs a program motion along the working surface and at the same time, it is necessary to keep a definite distance from this instrument to the surface automatically without excessive correction. A new algorithm of controlling the linear object of the second order of the general form has been obtained by dynamics and perturbations compensation method, which takes precedence over well-known decisions. The algorithm provides a zero static error of the system regulation and movement in acquisition of external effects within the accuracy of standard filters of the second order that is convenient for practical use. The first filter indicates movements of the system during the task performing; the second one provides perturbations compensation on state variables. A step-by-step procedure of the algorithm synthesis has been represented for the second order controlled object of the general form. Formulae for calculating regulator coefficients have been obtained. The obtained equations defining processes in a closed control system allow performing the analysis of the control quality and the dynamics of control changes depending on external influences. A method of equations identification of the robot motion in conditions when we know the maximum speed of its instrument movement and a dynamic error of the robot servosystem regulating has been developed. By this method, the robot equations are brought up to the Vyshnegradskiy’s form and then on the computer model a fundamental frequency and a decay factor can be easily chosen. The application of the obtained algorithm has been reviewed to create a system of automatic regulation of the robot instrument position. It has been clarified that defining free coefficients of these filters on position of filter fundamental frequency equation and a controlled object provides the given system operation speed at moderate amplitude of controlling actions. A mathematical modeling method has shown the advantages of regulation program quality, parametric and structural robustness of the obtained control system.

Разработка Математической Модели Системы Управления Динамическим Движением Плоского Манипулятора С Двумя Вращательными Звеньями Методом Компенсации Динамики Объекта И Возмущений

“…Бұрын аталған әдіс бір буынды робот-манипуляторды басқаруды сипаттау үшін сәтті қолданылды [8][9][10][11], екі буынды роботқа объектінің динамикасы мен бұзылуларын өтеу әдісі бірінші рет қолданылады. Әрине, басқару объектісінің сызықтық емес қасиеттерін есепке алу математикалық сипаттама мен басқару алгоритмін едәуір қиындатады, сондықтан біз айналмалы буындары бар екі буынды жазық манипулятордың динамикасын қарастырумен шектелдік.…”