DEVICE FOR OPTIMAL-SPEED CONTROL OF ROBOTIC MANIPULATOR TRAJECTORY Russian patent published in 2003 - IPC

FIELD: robotics; control systems for robotic manipulators. SUBSTANCE: device has trajectory planner for external coordinate space, sensors unit, control instruction computing unit, nonlinear members computing unit, and control matrix unit; newly introduced in device are braking unit, differentiating unit, maximal speed curve generating unit, matrix coefficient computing unit, control coefficient computing unit, matrix inversion unit, nonlinear components computing unit, Jacobi matrix product computing unit, trajectory shaping unit, assembly circuits, comparators unit, braking distance computing unit, remaining distance computing unit, coincidence circuits unit, and peak ordinates computing unit. Control algorithm executed by device does not require kinematic solution of inverse problem when organizing working movement along desired trajectories, nor preliminary calculations of surfaces, lines, or moments of control action change-over. EFFECT: enhanced trajectory speed of robotic manipulator along desired external or generalized trajectory coordinates. 3 cl, 6 dwg