Method of Formation of Reference Movement Speed of Working Tool of Multilink Manipulator

摘要

The solution of task of increasing the productivity of robotic systems containing multilink manipulators is presented in this paper. Their actuators have power limitations. To solve this task, a method has been developed for automatic formation of extremely high reference speeds of their working tools. This method allows to maintain a set dynamic control accuracy, taking into account interactions between all degrees of freedom of these manipulators and restrictions on input signals of their electric drives. The created method consists in calculating the maximum allowable speed of the working tool of the manipulator. A system for forming the speed of the working tool of the manipulator with three rotational degrees of freedom was synthesized based on the proposed method. These degrees of freedom are actuated by DC motors. This manipulator can move working tools along arbitrary smooth spatial trajectories formed using third-order parametric splines. This method provides significant increasing of the reference speed of the working tools due to continuous operation of at least one of the manipulator actuator near the saturation zone of its power amplifier without entering it. At the same time, the system speed was increased without reducing dynamic accuracy. The created method can be used to generate the extremely high reference speed of the working tools of manipulators with any kinematic schemes and various numbers of degrees of freedom.