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Abstract

This article is devoted to the adaptive cyclic control of an industrial robot manipulator on the example of moving objects with a positional trajectory. The specific features of applying the principle of adaptive cyclic control to industrial robots are also presented. The kinematic scheme describing the movement of the robot working body with the adaptive cycle control system and the transition states of the working body based on limited positions in space are presented, the sequence of movement of the manipulator links and the selection of information about the actions at individual levels of mobility, control in the case of a variable sequence of links by positional coordinates the formation of programs was considered. During the control process, a model describing the transition states of the robot working body movement zone according to the positional coordinates corresponding to the cyclic control signals was developed, and mathematical models reflecting the interdependence of each state were presented. Based on the mathematical models that describe these transition states and reflect the interdependence of each state, an algorithm for controlling the movements of the industrial robot manipulator with high accuracy and speed has been developed.

First Page

48

Last Page

53

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