Accuracy Control Studies of Engineer Robot Manipulator of Serial-to-Parralel Kinematic Structure

Abstract

The improvement of intuitive control of engineer robot manipulators caused the development of special control lever mechanisms. This approach has reduced the psycho-physical fatigue of the operator by automating the movement of individual manipulator units based on the control of its working tool. The article presents experimental accuracy control for one of the typical kinematic structures of engineer robot's manipulator using lever mechanism. Taking into consideration, a model of such a mechanism and a control algorithm that uses the operation of typical regulators were developed and made. Based on the movement of the manipulator's working tool along the assumed horizontal trajectory for different speeds of movement the errors in running working tool were determined. For the assessment the indicators related to the characteristics of the obtained trajectories and pressure runs in individual hydraulic cylinders were used.