FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used to create contour control systems for multi-stage manipulators. The method for controlling the working body of a multi-stage manipulator consists in the fact that its current desired position in a three-dimensional space is set by means of a block for forming trajectories with time functions, while using a computing device, taking into account the current desired position of the working body of a multi-stage manipulator, the current desired values of all generalized coordinates of this manipulator are generated, arriving at the inputs of all its executive tracking electric drives. The current desired position of the working body of the multi-stage manipulator is set by means of a trajectory formation unit that implements parametric splines with the possibility of their correction in a function of time, while the desired speed of movement of the working body along the trajectories is set by means of a speed formation unit taking into account the parameters of all the tracking electric drives of the multi-stage manipulator and the limit values of their input signals using the current continuously calculated values of external torque effects on these electric drives, as well as the parameters of the current spatial trajectories and the current configuration of the multi-stage manipulator, all the specified information is fed to the inputs of the velocity formation unit from the output of the trajectory formation unit and the outputs of the position, speed and acceleration sensors installed on the output shafts of the gearboxes of all tracking electric drives, and the desired speed of movement of the working body along the trajectories ensures the operation of at least one of the tracking electric drives of a multi-stage manipulator in a linear zone and a pre-saturated state, at the same time, the desired speed is reset by means of the speed generation unit when the working body of the multi-stage manipulator approaches the ends of the trajectories or it is limited at a given level to comply with the requirements of the technical process.
EFFECT: automatic movement of the MM working bodies along spatial trajectories at extremely high speeds while maintaining high control accuracy.
1 cl, 2 dwg
