FIELD: robotics.
SUBSTANCE: group of inventions can be used in manipulation systems in the form of mechanisms of a parallel kinematic structure. The proposed method and control device are based on the use of a unit for assessing the condition of the mechanism drives, which makes it possible to determine the condition and current load on each drive, as well as the number and location of faulty drives. The additional load on each serviceable drive is calculated accordingly, on the basis of which the control actions supplied to the serviceable drives are adjusted to ensure compliance with the specified law of movement of the mechanism.
EFFECT: increased operational reliability of the mechanism by maintaining the required position of the mechanism links and fulfilling the specified law of motion in the event of a partial failure in the actuator drive system.
2 cl, 1 dwg
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|---|---|---|---|
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