THE CONCEPT OF FORCE-MOMENT SENSING OF MULTI-POSITION MECHATRONIC MODULES OF INTELLIGENT ROBOTS

Authors

Nazarov Khayriddin Nuritdinovich, Professor of Mechatronics and Robotics, Department of Electronics and Automation, Tashkent state technical university named after Islom KarimovFollow
Temurbek Omonboyevich Rakhimov, Doctoral student of "Mechatronics and Robotics" department of "Electronics and Automation" faculty of Tashkent State Technical University named after Islam KarimovFollow

Abstract

The concept of force-moment sensing of multiposition mechatronic modules (MMM) of intelligent robots and robotic systems is considered. In modern intelligent mechatronic modules, the use of force-torque sensing is focused on expanding their functionality in the automation of various technological operations. In the developed intelligent multi-position mechatronic module of motion, its control loop includes a force-torque system (FTS) designed to measure the components of the main vector of forces and moments acting on the gripper or tool of the mechatronic module and form a logical or continuous control action on the actuator in projections on the associated him a coordinate system. The structure of the system of force-torque sensing of intelligent mechatronic modules is proposed, including a database and knowledge, a pre-processing unit, a force-torque sensor, a processor and a control system. A classification is made according to the principle of measuring the components of the main load vector by the sensing method and by the control object.

First Page

206

Last Page

213

DOI

https://doi.org/10.51346/tstu-01.21.2-77-0127

References

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Recommended Citation

Nuritdinovich, Nazarov Khayriddin and Rakhimov, Temurbek Omonboyevich (2021) "THE CONCEPT OF FORCE-MOMENT SENSING OF MULTI-POSITION MECHATRONIC MODULES OF INTELLIGENT ROBOTS," Technical science and innovation: Vol. 2021: Iss. 2, Article 10.
DOI: https://doi.org/10.51346/tstu-01.21.2-77-0127
Available at: https://btstu.researchcommons.org/journal/vol2021/iss2/10