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Article
Analysis and Design of Control Dynamics of Manipulator Robot’s Joint Drive
Author(s)
Bukhar Kussainov
Full-Text PDF XML 498 Views
DOI:10.17265/2159-5275/2018.05.003
Affiliation(s)
Institute of Control Systems and Information Technologies, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan
ABSTRACT
A system of automatic control (SAC) of the electric drive of rotary link
of manipulator robot (MR) is considered. The variables of mechanical load of
drive, depending of changes of a spatial configuration of MR in the course of
motion, mass and dimensions of the moved payloads, etc., are received from the
motion equation of rotary link of MR. Changes of mechanical load can be unknown
and cause the essential deterioration in dynamical properties (speed, damping,
etc.) of the SAC of drive. With the aim to stabilize the desired dynamical
properties of SAC the algorithm of drive control is proposed which is adaptive
to changes of mechanical load. The unknown parameters of drive load, necessary
to form the adaptive control algorithm, are identified via observing device
(OD). The work algorithm of OD to identify the unknown parameters of drive load
is proposed. For the proposed control and work of OD algorithms the block
diagram of drive control is construction. The simulation results on computer proved that in
considered SAC of drive the stabilization of desired dynamical properties ensured.
KEYWORDS
Manipulator robot, control dynamics of joint drive, load adaptive control system, observing device.
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