Система многоцелевого управления роботом-манипулятором

Maria A. Smirnova; Mikhail N. Smirnov; Nikolay V. Smirnov

doi:10.21638/11701/spbu10.2022.415

Authors

Maria A. Smirnova St Petersburg State University, 7-9, Universitetskaya nab., St Petersburg, 199034, Russian Federation https://orcid.org/0000-0002-0799-4357
Mikhail N. Smirnov St Petersburg State University, 7-9, Universitetskaya nab., St Petersburg, 199034, Russian Federation
Nikolay V. Smirnov St Petersburg State University, 7-9, Universitetskaya nab., St Petersburg, 199034, Russian Federation https://orcid.org/0000-0002-9083-322X

DOI:

https://doi.org/10.21638/11701/spbu10.2022.415

Abstract

The purpose of this work is to create methods and algorithms for the formation of multi-purpose automatic control systems for the robotic arm, as well as to develop specialized software for computer modeling of the developed algorithms on the example of a real robotic arm. The methods of forming multi-purpose automatic motion control systems for various objects are developed, and the features of using a multi-purpose structure for control dynamic objects are studied.

Keywords:

automatic control, robotic arm, computer modeling

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References

Литература

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Smirnova M. A., Smirnov M. N., Smirnova T. E., Smirnov N. V. Multi-purpose control laws in motion control systems. Information (Japan), 2017, vol. 20 (4), pp. 2265-2272.

Smirnov M. N., Smirnova M. A., Smirnova T. E., Smirnov N. V. The problem of synthesis the control laws with uncertainties in external disturbances. Lecture Notes in Engineering and Computer Science, 2017, vol. 2227, pp. 276-279.

Smirnov M. N., Smirnova M. A., Smirnova T. E., Smirnov N. V. The issues of multipurpose control laws construction. Lecture Notes in Engineering and Computer Science, 2017, vol. 2227, pp. 194-196.

Smirnova M. A., Smirnov M. N. Multipurpose control laws in trajectory tracking problem. Intern. Journal of Applied Engineering Research, 2016, vol. 11 (22), pp. 11104-11109.

Vitrant E., Canudas-De-Vit C., Georges D., Alamir M. Remote stabilization via time-varying communication network delays: application to TCP networks. IEEE Conference in Control Applications, 2004, vol. 1, pp. 474-479.