Open AccessInvestigation of possible paths to implement the planar 3RPR robot movement along a predetermined trajectory
Author(s) -
Victoria Perevuznik,
Dmitry Malyshev,
Е. В. Гапоненко,
Sergey Khalapyan,
Larisa Rybak
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1661/1/012117
Subject(s) - trajectory , movement (music) , planar , robot , computer science , mode (computer interface) , interpolation (computer graphics) , path (computing) , control theory (sociology) , simulation , mechanism (biology) , linear interpolation , control (management) , motion (physics) , artificial intelligence , acoustics , physics , human–computer interaction , computer graphics (images) , astronomy , quantum mechanics , pattern recognition (psychology) , programming language
The paper considers various possibilities for implementing the movement of a robot of the parallel structure along a pre-calculated trajectory. A computational experiment using a model of a planar 3-RPR mechanism with direct current drive electric motors made it possible to study the accuracy characteristics of the robot depending on the selected mode of changing the tasks of controlling the length of its drive links. During the experiment, various possibilities of realizing the movement of a parallel robot along a pre-calculated path were investigated. The best mode, ensuring a minimum of dynamic deviation of the actual trajectory from the given one, is now recognized as a uniform change in the tasks of the control loops of the length of the drive links in time using linear Lagrange interpolation.