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2018 | OriginalPaper | Chapter

Structural Analysis and Animated Simulation of Biotechnical Position-Velocity Control System of a Robot-Manipulator

Authors : Ekaterina Rostova, Nikolay Rostov, Boris Sokolov

Published in: Interactive Collaborative Robotics

Publisher: Springer International Publishing

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Abstract

The comparative analysis of different types of structures of algorithms for a robot-manipulator control has been performed for the open-loop and closed-loop semi-automatic control by the gripper velocity and position vectors. Computer models have been developed for a position-velocity control system with reconfigurable structure of algorithms for a robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. In the developed models an operator is represented by a vector dynamic element with dead time. Animated simulation of dynamic processes in systems with different structures of control algorithms has been performed and their precision characteristics have been evaluated. Some practical recommendations are given on the application of the achieved results for the development of training simulators for operators of robot control systems.

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Title: Structural Analysis and Animated Simulation of Biotechnical Position-Velocity Control System of a Robot-Manipulator
Authors: Ekaterina Rostova
Nikolay Rostov
Boris Sokolov
Publisher: Springer International Publishing
Book: Interactive Collaborative Robotics
Print ISBN: 978-3-319-99581-6

Electronic ISBN: 978-3-319-99582-3

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-99582-3_23

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