Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators-Reference-Cited by-同舟云学术

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

Published:2023-05-19 Issue:3 Volume:12 Page:75
ISSN:2218-6581
Container-title:Robotics
language:en
Short-container-title:Robotics

Author:

Filaretov Vladimir¹²,Gubankov Anton¹³⁴^ORCID,Gornostaev Igor¹²³⁴

Affiliation:

1. Robotics Laboratory, Institute of Automation and Control Processes, 690041 Vladivostok, Russia

2. Department of Informatics and Control in Technical Systems, Sevastopol State University, 299053 Sevastopol, Russia

3. Laboratory of Marine Unmanned Aviation and Marine Aviation Systems, Maritime State University Named after Admiral G.I. Nevelskoy, 690059 Vladivostok, Russia

4. Laboratory of Intelligent Information Systems for Marine Robots, Institute of Marine Technology Problems, 690091 Vladivostok, Russia

Abstract

The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control accuracy of the working tools of serial manipulators when they move along arbitrary spatial trajectories, taking into account restrictions in all degrees of freedom and special cases of their link positions. The maintenance of the control accuracy could be ensured by eliminating the reach of all degrees of freedom of manipulators to their limits and to indicated special positions, characterized by an ambiguity when solving the inverse kinematic problems of various serial manipulators. This is in addition to preventing the reach of their working tools to the boundaries of the working area due to the use of a redundant degree of freedom when approaching the indicated undesirable positions. The experimental studies performed in this paper confirm the efficiency of the proposed method and allow accurate characteristics to be obtained.

Funder

Russian Science Foundation

Publisher

MDPI AG

Subject

Artificial Intelligence,Control and Optimization,Mechanical Engineering

Link

https://www.mdpi.com/2218-6581/12/3/75/pdf

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