{"title":"The method of manipulability control of a robot","authors":"O. Kapustina, A. Kobrin, Kirill Kompaneets","doi":"10.31776/rtcj.11205","DOIUrl":null,"url":null,"abstract":"The paper presents the results of a numerical experiment that demonstrates the effectiveness of a control algo-rithm that maintains a sufficiently high numerical value of the robot's manipulability function , which ensures «remoteness» from a singular configuration. The problem of approaching the end effector of the space manipula-tor Canadarm2, which has seven degrees of freedom (one redundant generalized coordinate), with an object mov-ing along a known trajectory, is considered. To the six parameters that determine the position and orientation of the gripper in absolute space, a «kinematic» function , depending on the relative rotation angles of the links, has been added. In this case, the kinematics equations became closed with respect to the rotation angles. The control law includes a condition for maintaining a certain numerical value that exceeds the minimum allowable value. Illustrations in the form of three-dimensional animation obtained on the basis of numerical integration of the equa-tions of controlled motion of the manipulator and the object were built using the Mathematica computer algebra system.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Technical Cybernetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.31776/rtcj.11205","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The paper presents the results of a numerical experiment that demonstrates the effectiveness of a control algo-rithm that maintains a sufficiently high numerical value of the robot's manipulability function , which ensures «remoteness» from a singular configuration. The problem of approaching the end effector of the space manipula-tor Canadarm2, which has seven degrees of freedom (one redundant generalized coordinate), with an object mov-ing along a known trajectory, is considered. To the six parameters that determine the position and orientation of the gripper in absolute space, a «kinematic» function , depending on the relative rotation angles of the links, has been added. In this case, the kinematics equations became closed with respect to the rotation angles. The control law includes a condition for maintaining a certain numerical value that exceeds the minimum allowable value. Illustrations in the form of three-dimensional animation obtained on the basis of numerical integration of the equa-tions of controlled motion of the manipulator and the object were built using the Mathematica computer algebra system.