Robotic electromechanical object control by means of variable structure system

摘要

The practical purpose of robot design is to transfer types of complex human activitiesthat require much effort, are monotonous and harmful. The robotic systems differ from traditionalautomation measures in terms of their universality and the possibility to reconstruct them quicklywhich enables them to create flexible automation production measures on the basis of universalequipment. Therefore, the subject matter of the present article is constituted by manipulator robotcontrol system methods (semi-continuous control method, coordinator parameter control methodand adaptive control method etc.) and the aim of the present study is to cover the said manipulatorrobot control system methods in order to assess the problems relating to their application and toprovide the potential solutions. In analysing studies by other authors and assessing the resultsbased on them, the following results of the present article were obtained: having regard to thepeculiarities of control object model, due to their universality, theoretical methods of systemswith semi-continuous control are the most attractive. The approach of other studies is alsoimproper as it is claimed that the dynamics of electric executive equipment may be neglected andcontrol moments can be formed in the same way as breakage functions and the problem whichoccurred may partly be solved, by using the advantages of the system with semi-continuouscontrol in the pre-limiting situation which occurs by approximating semi-continuous control bymeans of continuous functions. The fundamental gap of the majority of electromechanical objectcontrol studies is, first of all, related with the fact that the phase variables are consideredmeasurable, so the necessity arises to note that the entire complex of measurement equipmentmay lead to a significantly more expensive control system; moreover, measurement equipmentadds additional dynamics to the control system and makes the synthesis procedure even morecomplex.