Improvement of manipulating robot servo drives' control system

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI:10.1109/RAAD.2014.7002235

Ozhikenov Kassymbek, Tuleshov Erkebulan, Utebayev Ruslan, Tuleshova Azhar

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引用次数: 1

Abstract

There is developed the method of constructing the system of manipulating robots' control, essentially enhancing the quality indicators of their work. The work is devoted to the improvement of the method of adaptive control and study of its effectiveness by improving the quality of the course of dynamic processes in the system of manipulator's servo drives. The improvement is the implementation of adaptive control by direct modification of the transfer coefficient of servo drive controller, that causes simplification of the system and its technical implementation. A quantitative assessment of the course is carried out of dynamic processes in servo drives on the basis of construction of transient processes. The results of modeling dynamics system of manipulator's servo drives show that the dynamics compared with a normal system of coordinate regulated drive the nature of transient processes is improved and their indicators are provided. These studies have scientific and practical value, as one of many solutions to the problems of creation new highly efficient design of manipulating robots.

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操纵机器人伺服驱动控制系统的改进

提出了构建操纵机器人控制系统的方法，从根本上提高了操纵机器人工作的质量指标。通过改善机械手伺服驱动系统动态过程的质量，对自适应控制方法进行改进，并研究其有效性。改进的方法是通过直接修改伺服驱动控制器的传递系数实现自适应控制，从而简化了系统及其技术实现。在构建瞬态过程的基础上，对伺服驱动中的动态过程进行了定量评价。对机械手伺服驱动系统的动力学建模结果表明，与常规的坐标调节驱动系统相比，该系统的动力学特性得到了改善，并提供了瞬态过程的指标。这些研究作为解决新型高效操纵机器人设计问题的众多方法之一，具有一定的科学和实用价值。

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来源期刊

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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