Abstract
Objectives of this work were to synthesize a coordinated control algorithm and a reduced coordinated control algorithm for the biaxial manipulator and for a typical (straight line and circular arc) and non-typical (parabola) trajectories. The authors synthesized the coordinated control algorithm (CCA) based on A.D. Kurmashev algorithm and proposed the reduced coordinated control algorithm (RCCA) for a biaxial manipulator model. Two synthesized algorithms and an uncoupled system on different trajectories and different contour speeds were compared using mathematical modeling. Utilizing the coordinated control algorithms leads to an increase in the minimal quality factor and may lead to a decrease in the contour speed error in comparison to the uncoupled system. The synthesized algorithms for the manipulator moving along the typical and non-typical trajectories eliminate contour and contour speed errors better than the uncoupled system. The RCCA allows to control manipulator by using information only from position and speed sensors. Therefore, it is possible to implement the RCCA on existing equipment without any significant modification of it like adding additional sensors, loops, etc.
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Lyubich, V., Kurmashev, A. (2020). Synthesis of the Coordinated Control Algorithms for a Biaxial Manipulator. In: Arseniev, D., Overmeyer, L., Kälviäinen, H., Katalinić, B. (eds) Cyber-Physical Systems and Control. CPS&C 2019. Lecture Notes in Networks and Systems, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-030-34983-7_30
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