Development of methods for automatic control of manipulator drives of mobile weeding robot with parallel-serial structure

Abstract

The work solved the problem of positioning -determining the lengths of the actuating links of the manipulator with a parallel-serial structure at a given position of the operating body. A kinematic algorithm for manipulator position stabilization in a given final state is synthesized. A mathematical model of the spatial controlled motion dynamics of the operating body as a multi-mass system is developed. The control efforts change laws are obtained.The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body.The problem solution is of an optimization nature. The second stage proceeds with the resolving of the problem of defining the laws of the setting action formation for the actuating drives responsible for the operating body motion in the set point neighborhood. The programmed path correction is done in such a way that at any specific time it moves through a set position of the operating body while the deviations from the final state of actuating links change according to the solution of the formed differential equation. The authors develop a mathematical model for the dynamics of the operating body motion taking into account it is a multi-mass system. The article provides the obtained laws regulating changes in control forces. Finally, the authors give the results of computational modeling to prove the algorithm practical efficiency by the example of a specific manipulator.