Task of Control of Parallel Mechanism for Given Law of Motion

10.6567/IFToMM.14TH.WC.OS12.010

N.Yu. Nosova；V.A. Glazunov；Nguyen Minh Thanh

Manipulator of parallel structure ； Dynamics ； Task of control ； Communication equations

Proceedings of the 14th IFToMM World Congress

14th-1（2015 / 10 / 23）

159 - 163

英文

Optimal control problem of dynamic objects are important and relevant, including for industrial robots, where a manipulator is a basic part. One of the most important functional parts of the industrial manipulator is its control system, whose main objective is to implement the executive body movement along a predetermined path, i.e., provision of the laws of variation of its coordinates in time. The most effective methods to control the mechanisms of parallel structure are methods of dynamic management, in which the formation of the control signals is carried out taking into, account the dynamics equations of the manipulator. This paper presents an algorithm for solving the problem of control of translational guide mechanism of parallel structure based on the minimization of deviations from a given law of motion.