The Method of Formation the Reference Speed of Movement of the Working Tool of Multilink Manipulator

Filaretov, Vladimir; Gubankov, Anton; Gornostaev, Igor

doi:10.17587/mau.21.696-705

Cited by 5 publications

(1 citation statement)

References 6 publications

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“…Typical PID controllers are used in closed-loop actuators. The movement speed of the WT along a reference trajectory is set equal to 0.5 m/s, but in practice it can be variable and be adjusted according to the [33].…”

Section: Results Of Simulationmentioning

confidence: 99%

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

2023

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The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control accuracy of the working tools of serial manipulators when they move along arbitrary spatial trajectories, taking into account restrictions in all degrees of freedom and special cases of their link positions. The maintenance of the control accuracy could be ensured by eliminating the reach of all degrees of freedom of manipulators to their limits and to indicated special positions, characterized by an ambiguity when solving the inverse kinematic problems of various serial manipulators. This is in addition to preventing the reach of their working tools to the boundaries of the working area due to the use of a redundant degree of freedom when approaching the indicated undesirable positions. The experimental studies performed in this paper confirm the efficiency of the proposed method and allow accurate characteristics to be obtained.

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Section: Results Of Simulationmentioning

confidence: 99%

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

2023

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Method of Formation of Reference Control Signals for Redundant Manipulators

Filaretov

Gubankov

Gornostaev

2021

J. Phys.: Conf. Ser.

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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.

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Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines

Gubankov

Gornostaev

2022

2022 International Conference on Ocean Studies (ICOS)

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The Method of Formation the Reference Speed of Movement of the Working Tool of Multilink Manipulator

Cited by 5 publications

References 6 publications

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

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

Method of Formation of Reference Control Signals for Redundant Manipulators

Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines

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