MULTIUNIT CONTROLLER DEVICE FOR ROBOTIC ARM WITH DIRECT CURRENT ELECTRIC SERVO MOTORS AND INCREMENTAL ENCODERS
Journal Title: Інженерні та освітні технології - Year 2013, Vol 2, Issue 2
Abstract
The work refers to the positional control systems of industrial robots and can be used for upgrading or creating an adaptive control system of a robot manipulator PUMA–560 with improved transients and high accuracy positioning in conjunction with power modules AWD–10–36 and industrial computers. The device reads the signals of current sensors and position sensors, the calculation of control actions and the formation voltage for links robot manipulator drive. Improved accuracy in dynamic mode is achieved by modifying the coefficients of the PID-controller position when moving from one to another part of the trajectory. The device performs the surveillance system as a whole, manages and controls the movement of a robotic manipulator, provides independent control of speed and position of each drive separately, forms control impact power converters with the limitations of the manipulator position in space, providing two-way communication with industrial PC.
Authors and Affiliations
Ihor Serhiiovych Konokh, Mykhailo Yuriiovych Bazyshyn
Keywords
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