Title :
Synthesis of system for automatic formation of multilink manipulator velocity
Author :
Filaretov, V.F. ; Yukhimets, D.A. ; Konoplin, Alexandr Yu
Author_Institution :
Inst. for Autom. & Control Processes Far Eastern, Far Eastern Fed. Univ., Vladivostok, Russia
Abstract :
In this work the method of synthesis of system for control of manipulator movement is offered. This method allows to set maximum possible variable speed of the manipulator effector moving along spatial trajectories without decrease of the given dynamic accuracy of control. Herewith the entrance of manipulator engines to saturation is not supposed.
Keywords :
control system synthesis; manipulators; motion control; trajectory control; velocity control; automatic multilink manipulator velocity formation; dynamic control accuracy; manipulator effector; manipulator engines; manipulator movement control; maximum possible variable speed; spatial trajectories; system synthesis; Accuracy; Kinematics; Manipulator dynamics; Trajectory; Transfer functions; Vectors; control system; multilink manipulator; saturation; spatial trajectory;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990999
