Научная электронная библиотека ULRICH'S Periodicals Directory

Сибирский государственный университет
науки и технологий имени академика М.Ф. Решетнева

Сибирский аэрокосмический журнал
ISSN 2712-8970 (Print) ISSN 2782-5760 (on-line)

Сведения об образовательной организации

UDK 681.51
AUTOMATED CONTROL SYSTEM OF MANIPULATOR
R. A. Mirzaev, N. A. Smirnov
Siberian State Aerospace University named after academician M. F. Reshetnev 31, Krasnoyarsky Rabochy Av., Krasnoyarsk, 660014, Russian Federation Е-mail: ramirzaev@mail.ru, smirnov@sibsau.ru
Algorithmic support of the automatic control system actuators is considered. The structure of the program for con-trol servo with computer is proposed. Also a flowchart procedure for moving the actuator is presented. Research stand for testing and debugging of automatic control system is created. The proposed control system of actuators is tested using the stand. The accuracy of the angular position of the drives is checked. Thus, the task of creating a system of automatic control servo is posed and solved. You can use obtained results in the development of control systems of manipulators which include servos.
automatic control system, servo manipulator, research stand.
References

1. Rybak L. A., Erzhukov V. V., Chichvarin A. V. Effektivnye metody resheniya zadach kinematiki i dinamiki robota-stanka parallel'noy struktury (Efficient methods for solving robot kinematics and dynamics of machine-parallel structure). Moscow, Fizmatlit Pabl., 2011, 148 p.

2. Merlet J.-P. Parallel Robots (Second Edition). The Netherlands, Springer, 2006,  401 p.

3. Mirzaev R. A., Smirnov N. A., Vestnik SibGAU, 2013, no. 2(48), pp. 62–64.

4. Antonov S. E. Razrabotka avtomatizirovannogo programmno-apparatnogo kompleksa dlya issledovaniya mnogokoordinatnykh nelineynykh mekhanizmov na primere pretsizionnykh tripodov (Development of the automated hardware-software complex for the study of nonlinear mechanisms multi-axis on example precision tripods. Diss. candidate tehn. sciences: 05.13.06). St. Petersburg, 2013, 146 p.

5. Besekerskiy V. A., Popov E. P. Teoriya sistem avtomaticheskogo upravleniya (Theory of automatic control systems). St. Petersburg, Professiya Pabl., 2003, 752 p.

 


Mirzaev Roman Aleksandrovich – postgraduate student of Technical Mechanics of Siberian State Aerospace University named after academician M.F. Reshetnev. E-mail: ramirzaev@mail.ru

Smirnov Nikolay Anatolyevich – Doctor of Engineering Science, professor, director of the Institute of rocket and space technology, Head of the Department of Technical Mechanics, Siberian State Aerospace University named after academician M.F. Reshetnev. E-mail: smirnov@sibsau.ru