COMPREHENSIVE CONTROL SYSTEM FOR INDUSTRIAL ROBOTS
Автор: S. V. Vantsov, V. A. Sokolov, O. V. Khomutskaya
Журнал: Научное приборостроение @nauchnoe-priborostroenie
Рубрика: Информатика, вычислительная техника и управление
Статья в выпуске: 1 т.31, 2021 года.
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The article considers the control system for industrial robots (IR), including precision robots (РIR), representing the integration of systems of different levels of the control hierarchy into a single (integrated) system. There are the analyzes of the structural diagram and the original mathematical formulation of the control task and, accordingly, the principles of constructing algorithms for the functioning of such systems as a whole are given. It is shown that the expansion of the range of manufactured products requires continuous improvement of technological equipment, including both "mechanics" and the entire complex of control devices: electrics, electronics, pneumatics, hydraulics, optics and their possible various "complexes" (combinations). The presented hierarchical control systems can be used not only for stationary and mobile ground-based robotic systems, but also for controlling the movement of single and group UAVs, since in both cases it is necessary to move the IR unit in space to fulfill the assigned task.
Industrial robot (IR), precision industrial robot (PIR), unmanned aerial vehicles (UAVs), IR manipulator, hierarchical structural diagram of IR control, human operator (HO), control objectives, control criteria, control optimization
Короткий адрес: https://sciup.org/142226572
IDR: 142226572 | DOI: 10.18358/np-31-1-i96106