About formation of the stable modes of the movement of multilink mechanical systems

The problem of synthesis of the controlled movement of the stepping robot, the movers of that move on trajectories with the sites, which are close to rectilinear, is considered. Stabilization of movement of points on the movers of stepping robot on a rectilinear trajectory will allow synthesizing al...

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Bibliographic Details
Published inVibroengineering Procedia pp. 522 - 526
Main Authors Gorobtzov, A.S, Ryzhov, E.N, Polyanina, A.S
Format Journal Article
LanguageEnglish
Published JVE International Ltd 01.10.2016
Subjects
Incremental motion control
Methods
Motion
Robots
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Summary:The problem of synthesis of the controlled movement of the stepping robot, the movers of that move on trajectories with the sites, which are close to rectilinear, is considered. Stabilization of movement of points on the movers of stepping robot on a rectilinear trajectory will allow synthesizing algorithm of stepping without jumps of the accelerations in points of change of phases of a support of movers. In this case, under the control object, the point of mover is understood, and the controlled coordinate is a corresponding coordinate of such point.
ISSN:2345-0533