Implementation of a Constant Speed Mode for Control of a Manipulator with a Remote Center of Rotation

The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using...

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Bibliographic Details
Published inJournal of machinery manufacture and reliability Vol. 53; no. 5; pp. 417 - 421
Main Authors Shalyukhin, K. A., Pichugin, K. A., Terekhova, A. N.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 01.10.2024
Subjects
Engineering
Machines
Manufacturing
Mechanics of Machines
Processes
logical switch
motion controller
constant velocity mode
two-coordinate logical joystick
mechanism with remote center of rotation
control signal
working states of the mechanism
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Summary:The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using the example of a mechanism with four degrees of freedom and a remote center of rotation. Recommendations are given for choosing control methods and laws when developing spatial manipulators.
ISSN:1052-6188
1934-9394
DOI:10.1134/S1052618824700912