DocumentCode
1773227
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
fYear
2014
fDate
15-17 Oct. 2014
Firstpage
785
Lastpage
790
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location
Tehran
Type
conf
DOI
10.1109/ICRoM.2014.6990999
Filename
6990999
Link To Document