Analysis and Design of Control Dynamics of Manipulator Robot’s Joint Drive

• 作者: Bukhar Kussainov
• 来源期刊: 机械工程与自动化：英文版
• 学科: 工学
• 关键词: MANIPULATOR robot CONTROL DYNAMICS of JOINT DRIVE load adaptive CONTROL system observing device
• 年，卷（期）: 2018,（5）
• 页码范围: 205-213
• 页数: 9页
• 分类号: TH

摘要

A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the course of motion,mass and dimensions of the moved payloads,etc.,are received from the motion equation of rotary link of MR.Changes of mechanical load can be unknown and cause the essential deterioration in dynamical properties(speed,damping,etc.)of the SAC of drive.With the aim to stabilize the desired dynamical properties of SAC the algorithm of drive control is proposed which is adaptive to changes of mechanical load.The unknown parameters of drive load,necessary to form the adaptive control algorithm,are identified via observing device(OD).The work algorithm of OD to identify the unknown parameters of drive load is proposed.For the proposed control and work of OD algorithms the block diagram of drive control is construction.The simulation results on computer proved that in considered SAC of drive the stabilization of desired dynamical properties ensured.