Organization of the adaptive planning for the control of a three-coordinate electric drive (ED) of a manipulator with required velocities and accelerations along a trajectory on the plane Z, Q, where Q=√X2+Y2, is considered. For shaping the driving signals by the position of X,Y,Z coordinates of executive EDs the Zi(Qi) function interpolation is realized by a polynomial spline function of the third order. Adaptive correction of position data reading for each ED of a manipulator is proposed.
|Number of pages||7|
|Publication status||Published - Oct 1998|
ASJC Scopus subject areas
- Electrical and Electronic Engineering