# Algorithms of the Manipulator Drive Control System

Author Name(s): Bulat F. Bairamov, Artur A. Fardeev, Albert R. Fardeev
Author Email: o.a.fardeeva@mail.ru

## Abstract

The article presents a developed algorithm for the manipulator drive control system using a processor. This algorithm consists of three parts: – the functioning algorithm of the manipulator drive control system, in order to ensure the movement of the workpiece along a given path; – the functioning algorithm of the manipulator drive control system, with an aim of eliminating the deviation of the true path of the manipulated object from the set; – the functioning algorithm of the manipulator drive control system, ensuring the capture of the manipulated object. When creating the first algorithm, a speed vector control method is used, which consists in reporting specific speeds and accelerations for each of three degrees of mobility, depending on the projections of the trajectory on the coordinate axis and the time required for the manipulation object to pass from the beginning of the path to its end. When creating the second algorithm, the method of sequential adjustments is used. The third algorithm is based on a change in the position of the gripper when the generalized coordinates of the workpiece (axial coordinates and rotation angles) go beyond the allowable area. These algorithms are necessary when creating programs for controlling the manipulator drives, which is used to automate the movement of workpieces in the forging or hot stamping processes.

## Introduction

When developing the functioning algorithm of the manipulator drive control system, it is necessary to use functional models that provide control for: the movement of the manipulated object along a given path; elimination of the deviation of the true trajectory from the set; bypassing obstacles and capturing the workpiece. These functional models have been previously developed [1]. Based on these models, it is necessary to create algorithms that ensure the operation of manipulator.

## Conclusion

The following algorithms have been developed: functioning of the manipulator drive control system using the processor in order to ensure the workpiece movement along a predetermined path, in order to eliminate the deviation of the true path of the manipulated object from the predetermined one and ensure the capture of the manipulated object. The following algorithms were used at their creation: control method by speed vector, method of sequential adjustments. The last algorithm is based on a change in the grasp position when the generalized coordinates of the workpiece (axial coordinates and rotation angles) go beyond the allowable area. These algorithms can be used to create the manipulator control programs.

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