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Digital
Library of the European Council for Modelling and Simulation |
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Title: |
Design And Simulation Of
Biotechnical Multidimensional Motion Control Systems Of A Robot Manipulator |
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Authors: |
Ekaterina
Rostova, Nikolay Rostov, Vladislav Sobolevsky, Valerii Zakharov |
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Published in:
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(2019). ECMS 2019
Proceedings Edited by: Mauro Iacono, Francesco Palmieri, Marco Gribaudo,
Massimo Ficco, European Council for Modeling and
Simulation. DOI: http://doi.org/10.7148/2019 ISSN:
2522-2422 (ONLINE) ISSN:
2522-2414 (PRINT) ISSN:
2522-2430 (CD-ROM) 33rd International ECMS Conference on
Modelling and Simulation,
Caserta, Italy, June 11th – June 14th, 2019 |
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Citation
format: |
Ekaterina Rostova, Nikolay Rostov, Vladislav Sobolevsky, Valerii Zakharov (2019). Design And Simulation Of Biotechnical Multidimensional Motion Control Systems Of A Robot Manipulator, ECMS 2019 Proceedings Edited by: Mauro Iacono, Francesco Palmieri, Marco Gribaudo, Massimo Ficco European Council for Modeling and Simulation. doi: 10.7148/2019-0145 |
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DOI: |
https://doi.org/10.7148/2019-0145 |
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Abstract: |
The design of multidimensional velocity, position and force control algorithms for a semi-automatic motion control system of a robot-manipulator has been performed. Mathematical and computer models of a motion control system with reconfigurable structure have been developed for a 3-link robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. Simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. The achieved results may be of interest for designers who develop training simulators for human supervisors of robot motion control systems. |
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