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Digital Library

of the European Council for Modelling and Simulation

 

Title:

Design And Simulation Of Biotechnical Multidimensional Motion Control Systems Of A Robot Manipulator

Authors:

Ekaterina Rostova, Nikolay Rostov, Vladislav Sobolevsky, Valerii Zakharov

Published in:

 

 

(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

 

 

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

DOI:

https://doi.org/10.7148/2019-0145

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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