{"title":"Positional power control system\nof assembly robot manipulator with power sensing by pressure in the executive\ncylinders","authors":"A. A. Kuchin, A. L. Simakov, S. V. Kuznetsova","doi":"10.36652/0202-3350-2021-22-02-51-54","DOIUrl":null,"url":null,"abstract":"The paper deals with the topical issue of the power sensing of the assembly robot of the manipulator based on the calculation\nof the forces of interaction with the objects of the external environment by the change in pressure in the actuating\npneumatic cylinders. The structural diagram of the positional power control system of the assembly robot manipulator for\nthe proposed method of power sensing has been determined. An algorithm for the functioning of the position/force control\nsystem of an assembly robot manipulator for performing a typical connection of parts \"shaft—sleeve\" also has been made.","PeriodicalId":212628,"journal":{"name":"Assembling in Mechanical Engineering and Instrument-Making","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Assembling in Mechanical Engineering and Instrument-Making","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.36652/0202-3350-2021-22-02-51-54","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The paper deals with the topical issue of the power sensing of the assembly robot of the manipulator based on the calculation
of the forces of interaction with the objects of the external environment by the change in pressure in the actuating
pneumatic cylinders. The structural diagram of the positional power control system of the assembly robot manipulator for
the proposed method of power sensing has been determined. An algorithm for the functioning of the position/force control
system of an assembly robot manipulator for performing a typical connection of parts "shaft—sleeve" also has been made.
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