RoManSy 6 pp 342-349 | Cite as

Robot Control Synthesis in Conjunction with Moving Workpieces

  • P. Kiriazov
  • P. Marinov


Many applications of manipulators are connected with work on conveyors and it is necessary to make control synthesis of point-to-point motion in conjunction with moving workpieces. The velocity of the manipulator end-effector should be equal to the conveyor’s velocity at the operation point and this fact involves a new shooting technique for exact solution of the corresponding two-point boundary-value problems. Besides the proposed off-line control synthesis, a final adjustment of control parameters can be performed on the manipulator itself as in a self-learning adaptive procedure. The method is verified on a dynamic model of a two-degrees of freedom manipulator using D.C. motors.


Control Synthesis Operation Point Shooting Technique Maximum Capability Loop Articulate 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • P. Kiriazov
    • 1
  • P. Marinov
    • 1
  1. 1.Institute of Mechanics and BiomechanicsBulgarian Academy of SciencesSofiaBulgaria

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