{"title":"用远程运动中心控制四坐标机械手","authors":"K. A. Shalyukhin","doi":"10.1134/S1052618824010102","DOIUrl":null,"url":null,"abstract":"<p>Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals are presented when using unipolar and bipolar stepper motors. Examples of actuator control are given using different motion generators. The problems of development of motion generators and manipulator control methods for the simultaneous work of two or more actuators are considered.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":"53 1","pages":"73 - 79"},"PeriodicalIF":0.4000,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Control of a Four-Coordinate Manipulator with a Remote Center of Motion\",\"authors\":\"K. A. Shalyukhin\",\"doi\":\"10.1134/S1052618824010102\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals are presented when using unipolar and bipolar stepper motors. Examples of actuator control are given using different motion generators. The problems of development of motion generators and manipulator control methods for the simultaneous work of two or more actuators are considered.</p>\",\"PeriodicalId\":642,\"journal\":{\"name\":\"Journal of Machinery Manufacture and Reliability\",\"volume\":\"53 1\",\"pages\":\"73 - 79\"},\"PeriodicalIF\":0.4000,\"publicationDate\":\"2024-03-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Machinery Manufacture and Reliability\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://link.springer.com/article/10.1134/S1052618824010102\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Machinery Manufacture and Reliability","FirstCategoryId":"1085","ListUrlMain":"https://link.springer.com/article/10.1134/S1052618824010102","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Control of a Four-Coordinate Manipulator with a Remote Center of Motion
Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals are presented when using unipolar and bipolar stepper motors. Examples of actuator control are given using different motion generators. The problems of development of motion generators and manipulator control methods for the simultaneous work of two or more actuators are considered.
期刊介绍：
Journal of Machinery Manufacture and Reliability is devoted to advances in machine design; CAD/CAM; experimental mechanics of machines, machine life expectancy, and reliability studies; machine dynamics and kinematics; vibration, acoustics, and stress/strain; wear resistance engineering; real-time machine operation diagnostics; robotic systems; new materials and manufacturing processes, and other topics.
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