RoManSy 6 pp 576-587 | Cite as

Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment

  • S. N. Kolpashnikov
  • I. B. Tchelpanov


The control laws as well as the functional charts and the block diagrams of the industrial robot control circuits intended for realizing those laws are created on the basis of meeting the requirements of fast action and the present precision or the optimization conditions for the respective criteria of motion in the course of the free transfer of the objects being manipulated. The overwhelming majority of works dedicated to the analysis of the geometry, the kinematics and the dynamics of robot motion also refers to the tasks of free transfer mechanics.


Generalize Force Component Force Elastic Element Industrial Robot External Object 
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  1. 1.
    Kolpashnikov S.N., Polevoy A.I., Stoyanov V.M., Tchelpanov I.B. Problems of Mechanics at Automatic Assembling with Application of Industrial Rotos. In book: Robotization of Assembling Processes, Moscow, NAUKA, 1985. Google Scholar
  2. 2.
    Kolpashnikov S.N., Tchelpanov I.B. Optimizing the Structure of Elastic Elements of Robots Applied for Assembling Processes. In book: Industrial. Robots, Leningrad, MASHINOSTROYENIYE, 1986. Google Scholar
  3. 3.
    Kolpashnikov S.N., Tchelpanov I.B. Formalization of Requirements Imposed on Elastic Characteristics and Control Laws of Manipulators of Assembly Robots. “Proc. 1st ICAA, Brighton, UK, 1980” IFS, 1980, p.325–330Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • S. N. Kolpashnikov
  • I. B. Tchelpanov

There are no affiliations available

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