A Method of Forming the Emergency-Braking Trajectory of a Manipulator
- 作者: Kartashev V.1, Kartashev V.1
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隶属关系:
- Keldysh Institute of Applied Mathematics
- 期: 卷 57, 编号 4 (2018)
- 页面: 666-671
- 栏目: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220189
- DOI: https://doi.org/10.1134/S106423071804010X
- ID: 220189
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详细
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.
作者简介
V. Kartashev
Keldysh Institute of Applied Mathematics
Email: kart@list.ru
俄罗斯联邦, Moscow, 125047
V. Kartashev
Keldysh Institute of Applied Mathematics
编辑信件的主要联系方式.
Email: kart@list.ru
俄罗斯联邦, Moscow, 125047