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License Agreement on scientific materials use.
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CONSTRUCTION OF MANIPULATION ROBOT CONTROL SYSTEM WITH LOCAL REGULATORS
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Yurii Yur'evich Voronin
Moscow State University of Mechanical Engineering (MAMI)
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Submitted:
March 11, 2014
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Abstract.
The manipulation robot is a complex many-dimensional system. In the article the author suggests a new approach to the construction of the manipulator linear control at the expense of local regulators use. This enables to obtain simple, but quite efficient robot control. The advantages of linear control are used, stability is analyzed.
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Key words and phrases:
механизм
манипулятор
система
управление
матрица
mechanism
manipulator
system
control
matrix
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References:
- Воронин Ю. Ю. Самонастраивающаяся система с эталонной моделью для управления манипуляционным роботом // Приборостроение. 1989. № 8.
- Динамика управления роботами / под ред. Е. И. Юревича. М.: Наука, 1984.
- Сазонов Г. Г. Основы автоматического управления. ТАУ (для неспециалистов). М.: МГОУ, 1997.
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