在工作区域存在非静止障碍物的情况下，基于规则语法的机器人机械手逻辑控制

2020 13th International Conference "Management of large-scale system development" (MLSD) Pub Date : 2020-09-28 DOI:10.1109/MLSD49919.2020.9247703

Olga Tkacheva, M. Vinogradova, A. Utkin

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引用次数: 0

摘要

研究了当工作区域出现非定常障碍物时，机械臂的逻辑控制综合问题。针对两连杆机械臂，建立了基于有限状态集混合自动机的握把运动控制模型。通过数值仿真的方法，说明了所得到的逻辑控制算法的运行效率。

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

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.

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2020 13th International Conference "Management of large-scale system development" (MLSD)

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