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Close-Loop Control of Microrobot Within a Constrained Environment Using Electromagnet Pairs Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Dynamic Control of the Specialized Handling Robot for Installation of Cross Ties in the Subway

Authors : Sergey Tkalich, Vladimir Medvedev, Valerii Krysanov, Viktor Burkovsky, Viktor Trubetskoy, Aleksander Danilov, Pavel Gusev, Konstantin Gusev

Published in: Interactive Collaborative Robotics

Publisher: Springer International Publishing

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Abstract

Describing the design of the specialized handling robot for installation of cross ties in the subway. For the reliable reproduction of the required trajectories at high movement speed of manipulator links the task was set to develop its dynamic model, and the particular microprocessor system of the dynamic control of the manipulator. The equations of a three-coordinate manipulator dynamics in the angular system of coordinates are obtained in a differential and vector form of record providing the solution of the return problem of dynamics. The structure of a microprocessor system for the dynamic control of the three-unit manipulator with angular system of coordinates is developed. It is expedient to use the three-coordinate manipulators with angular system of coordinates in a limited space of a subway. When the operating impact effects are formed of the on drives of the specialized robot for the installation of cross ties the most versatile and rational method is that of dynamic control, developing the dynamic model of the manipulator on the basis of its algorithm and Lagrange’s method.

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previous chapter A Signal Processing Perspective on Human Gait: Decoupling Walking Oscillations and Gestures
next chapter Distribution of Roles in a Dynamic Swarm of Robots in Conditions of Limited Communications
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Metadata
Title
Dynamic Control of the Specialized Handling Robot for Installation of Cross Ties in the Subway
Authors
Sergey Tkalich
Vladimir Medvedev
Valerii Krysanov
Viktor Burkovsky
Viktor Trubetskoy
Aleksander Danilov
Pavel Gusev
Konstantin Gusev
Copyright Year
2019
Book
Interactive Collaborative Robotics

Print ISBN: 978-3-030-26117-7

Electronic ISBN: 978-3-030-26118-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-26118-4_9

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