Abstract
The article is devoted to mathematical modeling of robotic devices in the presence of dry friction with coupling. By dry friction with adhesion, we will understand such drag forces that change the value of the force modulus depending on the velocity. And, the value of the drag force at zero velocity is many times greater than the value of the drag force at non-zero velocity. The appearance of such forces is associated with the action of various external factors, such as corrosion, icing, and adhesion. The need to control the motion of the actuator in the presence of such forces, which are many times greater than the frictional forces acting on the actuator in motion, requires the creation of special means to ensure a given motion of the actuator. The article considers features of RTS control in the presence of coupling forces, as well as issues of synthesis of parameters of electric drive control system in the presence of coupling forces, and also gives an example of application of the developed theory for control of a robotic device for correct switching a 35–110 kV disconnector.
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The article was prepared with the support of the Strategic Project “Priority-2030. Creation of robotic tools to expand the functionality of a person”.
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Subbotin, E., Jatsun, A. (2023). Simulation of Controlled Motion of the Actuator of Robotic Systems in the Presence of Coupling Forces. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol 329. Springer, Singapore. https://doi.org/10.1007/978-981-19-7685-8_3
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DOI: https://doi.org/10.1007/978-981-19-7685-8_3
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