Research of Control Systems for Robotic Spatial Planning Platforms

The work is devoted to the study of the control system of the moving platform of the manipulative robot. The purpose of the work is the development and research of an instrumental complex of control, analysis and modeling of the operation of positioning platforms based on a spherical mechanism for use in automated industrial systems. The state of use of multi-link positioning platforms in various industries was analyzed and their classification was provided, the main areas of use were determined. A comparative analysis of mathematical methods for describing the kinematic properties of positioning platforms was performed, namely: the closed vector contour method, the coordinate transformation method. A model with an analytical apparatus for controlling the drive links of the spherical mechanism according to the given scenarios of the orientation of the positioning platform was developed, as well as a mathematical model of inverse kinematics was made, the working space was modeled, and the service angles were determined, and a calculation and real-life experiment was conducted. For the first time, the work uses the dependencies of analytical geometry to implement algorithms for controlling a spherical mechanism by inverse kinematics, and offers software and hardware that combines visual modeling tools with real-time data transmission to a controller that controls the drivers of a spherical mechanism by direct kinematics. The result of the field experiment is the testing of the proposed control algorithm on the manufactured manipulator mechanism on the most common movements of the platform of the spherical mechanism and its exit to the extreme positions in order to determine the working space and the values of the service angles. A system of remote control of the spherical mechanism at the hardware level with an interactive interface and tracking of the positioning target has been implemented.