Open AccessSynthesis of algorithm for stabilization of spatial position of manipulator gripper of parallel structure
Author(s) -
V. V. Dyashkin-Titov,
В. В. Жога
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1129/1/012055
Subject(s) - position (finance) , kinematics , manipulator (device) , control theory (sociology) , point (geometry) , computer science , parallel manipulator , work (physics) , algorithm , control (management) , control engineering , engineering , mathematics , artificial intelligence , mechanical engineering , robot , geometry , physics , classical mechanics , finance , economics
Method of synthesis of kinematic algorithm of stabilization of spatial position of manipulator gripper of parallel-serial structure relative to given position is described in work. Coordinates and speeds and accelerations of generalized coordinates of manipulator are taken as control parameters. Analytical ratios of the control signals of the drive electric motors are obtained, which ensure the movement of the working body of the manipulator in the vicinity of the designated point. Numerical examples of the implementation of the obtained control laws are given.