Program Displacement Tracing of Executive Devices by the Manipulator Drives of Parallel-Sequential Structures

Synthesis methods for program displacements are developed for executive cylinders of the manipulator of a parallel-sequential structure, that ensure implementation of the required trajectories of the executive device of a manipulator. Program displacements of executive cylinders are interpolated by...

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Bibliographic Details
Published in:Journal of computer & systems sciences international 2019-03, Vol.58 (2), p.305-316
Main Authors: Vorob’eva, N. S., Zhoga, V. V., Nesmiyanov, I. A.
Format: Article
Language:English
Subjects:
Control
Cylinders
Displacement
Engineering
Mechatronics
Optimization
Robotics
Splines
Trajectories
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Summary:Synthesis methods for program displacements are developed for executive cylinders of the manipulator of a parallel-sequential structure, that ensure implementation of the required trajectories of the executive device of a manipulator. Program displacements of executive cylinders are interpolated by a finite collection of third-order and fourth-order splines. At each point of the trajectory of the executive device, the manipulator configuration is determined by resolving an optimization problem with the minimum condition of the generalized energy criterion.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230719020187