Formation of a Mechanism-Adaptive Setting Trajectory for the Movement of the Characteristic Point of an Industrial Robot Gripper

Abstract

The article considers the ways of solving a number of problems arising in the design of robotic systems. A version of interaction among various types of software products intended to solve complex problems of designing the mechanical section and the drive of a robot is proposed. Modernization of the vector control system of a frequency-controlled asynchronous electric drive for the implementation of a tracking system with a mechanism-adaptive trajectory for setting the end effector position is considered. The expediency of introducing neural network technologies to solve positioning problems in an electric drive is demonstrated. The static and dynamic accuracy of the developed servo electric drive is determined by computer simulation. The features of the behavior of the system with a decrease in the maximum rate of rise of the setting trajectory are characterized. The adaptability of the setting trajectory with a change in the object mass is shown. The practical significance of the developed model is clarified.