| Issue |
E3S Web of Conf.
Volume 452, 2023
XV International Online Conference “Improving Farming Productivity and Agroecology – Ecosystem Restoration” (IPFA 2023)
|
|
|---|---|---|
| Article Number | 03011 | |
| Number of page(s) | 7 | |
| Section | Geodesy and Geoinformation | |
| DOI | https://doi.org/10.1051/e3sconf/202345203011 | |
| Published online | 30 November 2023 | |
Positional-velocity control of the manipulator built on the basis of an intelligent mechatron module
1 Tashkent state technical university named after Islom Karimov, 100095 Tashkent, Uzbekistan
2 Urgench branch of Tashkent University of Information Technologies named after Muhammad al-Khwarizmi, 220100 Urgench, Uzbekistan
* Corresponding author: rahimov_timur@bk.ru
The use of Industry 4.0 technologies in modern production serves to increase production efficiency. Robots and robotic complexes with innovative intelligent control are widely used in industrial production. However, the variety and complexity of their control methods and modes negatively affects the operators' working time and production productivity. In such cases, it is necessary to improve the control methods and to develop the technologies used in the industry, including robots and robotic manipulators, which allow to perform short movements with high accuracy and speed. The method and modes of position-velocity control of the manipulator built on the basis of the intelligent mechatron module are considered in the article. At the same time, a structural scheme of the combined control system was developed, which calculates the values of relative movement speeds for the links of the manipulator execution mechanism based on mathematical models. In addition, the requirements for the position-velocity control system, methods for eliminating the transient processes occurring during the control process are proposed. The advantages of time saving and control method in position-velocity control during manipulator control by the operator are given.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.