{"title":"实现恒速模式以控制具有远程旋转中心的机械手","authors":"K. A. Shalyukhin, K. A. Pichugin, A. N. Terekhova","doi":"10.1134/S1052618824700912","DOIUrl":null,"url":null,"abstract":"<p>The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using the example of a mechanism with four degrees of freedom and a remote center of rotation. Recommendations are given for choosing control methods and laws when developing spatial manipulators.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":"53 5","pages":"417 - 421"},"PeriodicalIF":0.4000,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Implementation of a Constant Speed Mode for Control of a Manipulator with a Remote Center of Rotation\",\"authors\":\"K. A. Shalyukhin, K. A. Pichugin, A. N. Terekhova\",\"doi\":\"10.1134/S1052618824700912\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using the example of a mechanism with four degrees of freedom and a remote center of rotation. Recommendations are given for choosing control methods and laws when developing spatial manipulators.</p>\",\"PeriodicalId\":642,\"journal\":{\"name\":\"Journal of Machinery Manufacture and Reliability\",\"volume\":\"53 5\",\"pages\":\"417 - 421\"},\"PeriodicalIF\":0.4000,\"publicationDate\":\"2024-09-26\",\"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/S1052618824700912\",\"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/S1052618824700912","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Implementation of a Constant Speed Mode for Control of a Manipulator with a Remote Center of Rotation
The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using the example of a mechanism with four degrees of freedom and a remote center of rotation. Recommendations are given for choosing control methods and laws when developing spatial manipulators.
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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