Algorithm of Intelligent Positional Contour Control of Objects Moving Along a Specified Trajectory
Abstract:
This article is devoted to the algorithm of intelligent positional-contour control of objects moving along a defined trajectory. In the process of positional-contour control of a multi-link industrial robot, the use of intelligent tech-nol ogy methods for planning a sequence of actions according to the defined coordinate trajectory and position of the manipulator handle on the example of moving objects is described. According to the tactical level of management, the problems of solving the right and inverse problems of robot kinematics and ensuring the flexibility of the ma nipulator handle based on the dynamic properties of the object were considered. In addition, a synthesis based on a mathe-matical model, as well as an intelligent control structure and algorithm based on neural network technology, are proposed to ensure stability in the movement of the manipulator handle along the programmed trajectory in the control of a multi-link industrial robot. The proposed algorithm allows positional-contour control systems to store the sequence of movements at initial positions along a specified coordinate trajectory of an industrial robot in a database and determine the optimal trajectory.
