Algorithm for adaptive planning of manipulator electric drive motion

V. G. Bukreev, A. V. Orlovskij, A. V. Shumikhin, V. N. Tsemkala

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)6-12
Number of pages7
JournalElektrotekhnika
Issue number10
Publication statusPublished - Oct 1998

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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