Control Algorithm for Compensated Tripod – Based Manipulators

V. V. Zhoga, V. V. Dyashkin-Titov, I. A. Nesmiyanov

Abstract


The paper presents an algorithm for synthesizing the control forces of a tripod-based manipulator, for which it uses a mathematical dynamics model where control-element masses are taken into account.  There have been obtained dependences of the programmed forces of drive motors when moving the grabber on a spatial straight line. The algorithm for the formation of control voltages is formed on the basis of complete equations of dynamics of the manipulator, taking into account the kinematic parameters of the manipulator in all degrees of freedom. The parameters of the equations characterizing the character of dynamic errors change allow to change the characteristics of manipulator controlled movements. The algorithm for calculating the control forces is one of the compensating type algorithms.

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DOI: http://dx.doi.org/10.24892/RIJIE/20190304

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