DEVICE FOR CONTOURING CONTROL OVER MANIPULATOR ROBOT Russian patent published in 2000 - IPC

FIELD: robotics. SUBSTANCE: invention can be used for development of systems controlling manipulator and mobile robots that ensure solving of trajectory problems with placement of additional requirements for contour speed. Technical objective of invention consists in increase of precision and in expansion of functional capabilities which are achieved with usage of proposed device. Device includes scheduler of trajectories in space of external coordinates, unit of actuating mechanisms, unit of transducers, unit of mechanical system of robot, unit computing nonlinear elements, unit computing matrix of control coefficients, unit computing Jacobean solution of primal problem of kinematics, unit computing time derivative from Jacobean solution of primal problem of kinematics, unit computing solution of primal problem of kinematics, two units computing Jacobean determinant of wished trajectories, unit computing time derivative from Jacobean determinant of wished trajectories, unit computing vector coefficient, transposition unit, two matrix transformation units, fourteen multiplication units and six summing units. EFFECT: increased precision and expanded functional capabilities of proposed device. 4 cl, 8 dwg