Logical control of a robot manipulator based on regular grammars in the presence of non-stationary obstacles in the working area

Abstract

The work is devoted to the synthesis of logical control by a robotic arm when unsteady obstacles appear in the working area. For a two-link manipulator, a grip motion control model based on a hybrid automata with a finite set of states is constructed. Using the methods of numerical simulation, the operation efficiency of the obtained logical control algorithm is illustrated.