A Method of Forming the Emergency-Braking Trajectory of a Manipulator
- Авторлар: Kartashev V.1, Kartashev V.1
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Мекемелер:
- Keldysh Institute of Applied Mathematics
- Шығарылым: Том 57, № 4 (2018)
- Беттер: 666-671
- Бөлім: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220189
- DOI: https://doi.org/10.1134/S106423071804010X
- ID: 220189
Дәйексөз келтіру
Аннотация
In an emergency situation, the normal reaction of a control system is to switch off the power supply of the actuators. In the resulting uncontrolled motion, the gripper significantly deviates from the programmed trajectory. It is proposed to form the braking trajectory by switching off the power supply of the degrees of freedom in a certain sequence. Estimates show that this can reduce the deviation almost by an order of magnitude.
Авторлар туралы
V. Kartashev
Keldysh Institute of Applied Mathematics
Email: kart@list.ru
Ресей, Moscow, 125047
V. Kartashev
Keldysh Institute of Applied Mathematics
Хат алмасуға жауапты Автор.
Email: kart@list.ru
Ресей, Moscow, 125047