Algorithm for adaptive planning of manipulator electric drive motion

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

Результат исследований: Материалы для журналаСтатья

Выдержка

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.

Язык оригиналаАнглийский
Страницы (с-по)6-12
Число страниц7
ЖурналElektrotekhnika
Номер выпуска10
СостояниеОпубликовано - окт 1998

Отпечаток

Electric drives
Manipulators
Planning
Splines
Interpolation
Trajectories
Polynomials

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Цитировать

Bukreev, V. G., Orlovskij, A. V., Shumikhin, A. V., & Tsemkala, V. N. (1998). Algorithm for adaptive planning of manipulator electric drive motion. Elektrotekhnika, (10), 6-12.

Algorithm for adaptive planning of manipulator electric drive motion. / Bukreev, V. G.; Orlovskij, A. V.; Shumikhin, A. V.; Tsemkala, V. N.

В: Elektrotekhnika, № 10, 10.1998, стр. 6-12.

Результат исследований: Материалы для журналаСтатья

Bukreev, VG, Orlovskij, AV, Shumikhin, AV & Tsemkala, VN 1998, 'Algorithm for adaptive planning of manipulator electric drive motion', Elektrotekhnika, № 10, стр. 6-12.
Bukreev VG, Orlovskij AV, Shumikhin AV, Tsemkala VN. Algorithm for adaptive planning of manipulator electric drive motion. Elektrotekhnika. 1998 Окт.;(10):6-12.
Bukreev, V. G. ; Orlovskij, A. V. ; Shumikhin, A. V. ; Tsemkala, V. N. / Algorithm for adaptive planning of manipulator electric drive motion. В: Elektrotekhnika. 1998 ; № 10. стр. 6-12.
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