A Method of Forming the Emergency-Braking Trajectory of a Manipulator
- Авторы: Kartashev V.1, Kartashev V.1
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Учреждения:
- Keldysh Institute of Applied Mathematics
- Выпуск: Том 57, № 4 (2018)
- Страницы: 666-671
- Раздел: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220189
- DOI: https://doi.org/10.1134/S106423071804010X
- ID: 220189
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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.
Об авторах
V. Kartashev
Keldysh Institute of Applied Mathematics
Email: kart@list.ru
Россия, Moscow, 125047
V. Kartashev
Keldysh Institute of Applied Mathematics
Автор, ответственный за переписку.
Email: kart@list.ru
Россия, Moscow, 125047