Forming the Braking Trajectory of a Manipulator under the Malfunction of an Actuator

Abstract

If a malfunction of equipment is detected, the manipulator control system switches off the power supply of actuators and applies brakes. The resulting motion can significantly differ from the programmed one because the relations of the velocities of the degrees of freedom undergo significant changes. It is proposed to form the emergency braking trajectory by switching on brakes with certain delays. Analytical estimates show that this can reduce the deviation from the programmed trajectory almost by an order of magnitude.