Dynamic Control of the Specialized Handling Robot for Installation of Cross Ties in the Subway

  • Sergey Tkalich
  • Vladimir Medvedev
  • Valerii Krysanov
  • Viktor Burkovsky
  • Viktor Trubetskoy
  • Aleksander Danilov
  • Pavel Gusev
  • Konstantin GusevEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11659)


Describing the design of the specialized handling robot for installation of cross ties in the subway. For the reliable reproduction of the required trajectories at high movement speed of manipulator links the task was set to develop its dynamic model, and the particular microprocessor system of the dynamic control of the manipulator. The equations of a three-coordinate manipulator dynamics in the angular system of coordinates are obtained in a differential and vector form of record providing the solution of the return problem of dynamics. The structure of a microprocessor system for the dynamic control of the three-unit manipulator with angular system of coordinates is developed. It is expedient to use the three-coordinate manipulators with angular system of coordinates in a limited space of a subway. When the operating impact effects are formed of the on drives of the specialized robot for the installation of cross ties the most versatile and rational method is that of dynamic control, developing the dynamic model of the manipulator on the basis of its algorithm and Lagrange’s method.


Robot for installation of cross ties The manipulator Dynamic model Dynamic control Angular system of coordinates 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Sergey Tkalich
    • 1
  • Vladimir Medvedev
    • 1
  • Valerii Krysanov
    • 1
  • Viktor Burkovsky
    • 1
  • Viktor Trubetskoy
    • 1
  • Aleksander Danilov
    • 1
  • Pavel Gusev
    • 1
  • Konstantin Gusev
    • 1
    Email author
  1. 1.Voronezh State Technical UniversityVoronezhRussia

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