THE SYNTHESIS OF THE INDEPENDENT CONTROL BY THE MANIPULATING ROBOT LINKS

Abstract

The purpose of the work: creating the method of synthesis of the law by the links motion independent control of the multilink manipulating robot on the base of adequate dynamicmodel of the actuating mechanism and the load to be displaced. The methods of decomposition of the manipulator multiconnection actuating system have been developed for the case of setting the dynamics model in the linearized stationary continuous and sicrete forms, and in unstationary form; the effective procedure of evaluation of the manipulator parameters and the load to be displaced has been offered. The algorithm of the independent control by the links of the six-stage industrial manipulator PM-01 and the software have been developedAvailable from VNTIC / VNTIC - Scientific & Technical Information Centre of RussiaSIGLERURussian Federatio