Title :
Coordinate-parametric control of time optimal manipulation robots
Author :
Slutski, L.I. ; Guryevski, A.B.
Author_Institution :
Kazakh State Univ., Alma-Ata, Kazakhstan
Abstract :
The problem of synthesizing time-optimal automatic control system (ACS) dealing with the executing mechanism of a robot body in the form of the second order linear object is considered taking into account the measurement inaccuracy of real position transducer. The purpose of synthesis is to make the level of the ACS positioning error, caused by this inaccuracy, less and introduce some additional parametric control channel is used as a corresponding means. The methods of appropriate ACS synthesis are presented. The ACS structure was designed and the comparative digital simulation showing the suggested approach effectiveness was performed
Keywords :
digital simulation; manipulators; optimal control; position control; automatic control system; coordinate parametric control; digital simulation; executing mechanism; parametric control channel; positioning error; real position transducer; second order linear object; time optimal manipulation robots; Angular velocity control; Circuits; Control systems; Coordinate measuring machines; Electric motors; Optimal control; Relays; Robot kinematics; Shafts; Transducers;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279562
