METHOD FOR CONTROLLING THREE-DIMENSIONAL MOVEMENT OF MANIPULATOR BEING SYSTEM WITH DISPERSED PARAMETERS AT FINAL STAGE OF ITS MOVEMENT WHEN IT ACHIEVES PREDETERMINED POSITION

摘要

FIELD: robotics.;SUBSTANCE: at initial stage of motion manipulator is controlled according to universal control law as solid-body system for moving end link to predetermined position. After termination of manipulator control as solid-body system, control process is transferred to control insert where manipulator model is formed. Said model taking into account distributed parameters of system in final stage of movement is in the form of sum of rocking links according to system of equations defining dynamics of manipulator. Algorithm of mathematical model or transfer function of manipulator depends upon its configuration; time constants of dominant turn of amplitude-phase frequency characteristics are used for forming correcting link of PID -controller while control is realized in each of three main directions of matrix of transfer functions in bearing unit of manipulator.;EFFECT: enhanced accuracy of positioning end link of manipulator in predetermined position, possibility for intensified suppression of oscillations at braking (by order or more).;6 dwg