A Method of Forming the Emergency-Braking Trajectory of a Manipulator

Abstract

In an emergency situation, the normal reaction of a control system is to switch off the power supply of the actuators. In the resulting uncontrolled motion, the gripper significantly deviates from the programmed trajectory. It is proposed to form the braking trajectory by switching off the power supply of the degrees of freedom in a certain sequence. Estimates show that this can reduce the deviation almost by an order of magnitude.