Control System of Multi-Level Manipulator with Rotational Degrees of Mobility

In this article, a robot with three rotational degrees of mobility is considered. The forward and inverse kinematics problem for this manipulator is solved. A mathematical model has been developed, as well as an informational model for the further development of control using a PID controller. The i...

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Bibliographic Details
Main Authors: Popov, Alexey V., Seredenko, Nikita A., Zhilenkov, Anton A.
Format: Conference Proceeding
Language:English
Subjects:
a mathematical model
controller
coordinate system of the manipulator
kinematics problem
Manipulators
Mathematical model
multi-level manipulator
Robot kinematics
Service robots
Shoulder
Solid modeling
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Description
Summary:In this article, a robot with three rotational degrees of mobility is considered. The forward and inverse kinematics problem for this manipulator is solved. A mathematical model has been developed, as well as an informational model for the further development of control using a PID controller. The information model was tested for all joints of the mechanism.
ISSN:2376-6565
DOI:10.1109/EIConRus.2019.8657209