Synthesis of Adaptive Control System for Formation of Program Speed of Multilink Manipulator

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 132)

Abstract

The paper deals with adaptive control system of multilink manipulator. This system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial trajectory. For providing necessary dynamic accuracy at high speeds of work, the self-turning correcting device has been entered into control chain of each drive. Results of simulating have completely confirmed high quality of the synthesized control system.

Keywords

multilink manipulator control system maximum speed high accuracy 

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References

  1. 1.
    Fu, K.S., Gonzalez, R.C., Lee, C.S.G.: Robotics: Control, Sensing, Vision and Intelligence (1987)Google Scholar
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    Zenkevich, S.L., Yushenko, A.S.: The basis of manipulator robots control. BMSTU Press, Moscow (2004) (in Russian)Google Scholar
  3. 3.
    Filaretov, V.F.: Self turning control systems of manipulators actuators. FENTU Press, Vladivostok (2000) (in Russian)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  1. 1.Robotics LaboratoryInstitute of automation and control processesVladivostokRussia
  2. 2.Department of automation and controlFar Eastern federal universityVladivostokRussia

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