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In this paper, the new approach to automatization of non-rigid parts machining at their deformation is proposed and analyzed. This approach bases on application of multilink manipulators with vision system and allows not using the expensive individual equipment for exact fixing of parts before machining. Two different algorithms of intelligent path planning of manipulator's working tool based on vision...
This paper is dedicated to development of new approach to synthesis of highly reliable speed control systems of multilink manipulator (MM). These control systems provide guaranteed performance of technological operations as fast as possible at the faults presence in actuators of these manipulators. Simulation results confirmed the efficiency of the proposed approach.
The paper deals with adaptive control system of multilink manipulator. This system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial trajectory. For providing necessary dynamic accuracy at high speeds of work, the self-turning correcting device has been entered into control chain of each drive. Results of simulating...
The paper deals with adaptive control system for robotic complex. This system depending on current values of continuously varying parameters of control objects can support the maximum possible speed of the working tools and accessory equipment without reducing a given dynamic accuracy. During performance of various technological operations there are situations when mass-inertial characteristics (parameters)...
This paper presents a new advanced approach for automatization of cutting of flexible items with arbitrary geometrical forms. This approach based on using multilink manipulators with vision system and allows not use the individual equipment for rigid fixing of processed parts. This is achieved by formation and correction of program motions of cutting tool of manipulator using information about current...
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