Investigation of possible paths to implement the planar 3RPR robot movement along a predetermined trajectory

The paper considers various possibilities for implementing the movement of a robot of the parallel structure along a pre-calculated trajectory. A computational experiment using a model of a planar 3-RPR mechanism with direct current drive electric motors made it possible to study the accuracy charac...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 1661; no. 1; pp. 12117 - 12122
Main Authors Kuzmina, V S, Malyshev, D I, Gaponenko, E V, Khalapyan, S Y, Rybak, L A
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.11.2020
Subjects
Direct current
Electric motors
Interpolation
Robot dynamics
Robots
Trajectories
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Summary:The paper considers various possibilities for implementing the movement of a robot of the parallel structure along a pre-calculated trajectory. A computational experiment using a model of a planar 3-RPR mechanism with direct current drive electric motors made it possible to study the accuracy characteristics of the robot depending on the selected mode of changing the tasks of controlling the length of its drive links. During the experiment, various possibilities of realizing the movement of a parallel robot along a pre-calculated path were investigated. The best mode, ensuring a minimum of dynamic deviation of the actual trajectory from the given one, is now recognized as a uniform change in the tasks of the control loops of the length of the drive links in time using linear Lagrange interpolation.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1661/1/012117