Email this article Automatic safe motion control system for a robotic manipulator
- Authors: Kartashev V.A.1, Safronov V.V.1
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Affiliations:
- Keldysh Institute of Applied Mathematics
- Issue: Vol 56, No 2 (2017)
- Pages: 328-333
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219869
- DOI: https://doi.org/10.1134/S1064230717020113
- ID: 219869
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Abstract
This paper is devoted to improving the automatic safe motion control system of a robotic manipulator, in such a way that the system, in addition to its primary function of shutting down the power drives in the case of overload, becomes capable of checking the operability of all its components. The proposed modification of the control system’s architecture makes it possible to prevent large deviations from the programmed motion even if only some of the console controllers remain operational.
About the authors
V. A. Kartashev
Keldysh Institute of Applied Mathematics
Author for correspondence.
Email: kart@list.ru
Russian Federation, Moscow
V. V. Safronov
Keldysh Institute of Applied Mathematics
Email: kart@list.ru
Russian Federation, Moscow
