Synthesis of Adaptive Control System for Formation of Program Speed of Multilink Manipulator
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.
Keywordsmultilink manipulator control system maximum speed high accuracy
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