Positional power control system of assembly robot manipulator with power sensing by pressure in the executive cylinders

Abstract

The paper deals with the topical issue of the power sensing of the assembly robot of the manipulator based on the calculation of the forces of interaction with the objects of the external environment by the change in pressure in the actuating pneumatic cylinders. The structural diagram of the positional power control system of the assembly robot manipulator for the proposed method of power sensing has been determined. An algorithm for the functioning of the position/force control system of an assembly robot manipulator for performing a typical connection of parts "shaft—sleeve" also has been made.