№2 (20), 2012. INDUSTRIAL ENGINEERING AND MACHINE SCIENCE

Stebulyanin M M, Sinitsyn A G

Determination of the control law under the synthesis of on-line path control algorithm for industrial manipulator

The problem of the position error control law choice within the confines of kinematiс path control algorithm is concerned in this paper. The way for definition of control law coefficients depending on the initial conditions of position error and its first order derivative is proposed. On the basis ofsimulation results the efficiencyofthe considered method is proved.

Keywords: control equation, path control, robot manipulator.

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