Dynamic correction in manipulator control systems based on intelligent linear motion mechatronic module

Abstract

Robotic complexes and robotic manipulators are widely used in the management of various objects and processes of control systems; their performance is directly related to the execution element. Electromagnetic actuators of multi-function control systems are structurally created separately for each adjustment body and lead to system complexity. To solve these problems, improve the executive system's weight-gauge indicators, and simplify the structural schemes, implementing intelligent mechatronic modules that perform linear and rotational movements in space coordinates is one of the urgent tasks. In this article, dynamic correction in manipulator control systems built based on an intelligent linear motion mechatronic module is considered. In manipulator control systems, the use of intelligent mechatronic modules in dynamic correction for manual and semi-automatic control manipulation systems that do not have a feedback channel for forces and moments and the relevance of the handle movement and manipulation objects with such a selection of the forces and moments vector m developed by them was seen. The article presents mathematical models for calculating vector components based on the current values of the generalized coordinates of the manipulator, their speed and acceleration, and the selection of the vector of forces and moments m developed by the intelligent mechatronic modules of the manipulator.